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https://github.com/isaac879/Pan-Tilt-Mount.git
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isaac879
@@ -18,6 +18,8 @@
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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//#pragma comment(lib, "XInput.lib") // Library. If your compiler doesn't support this type of lib include change to the corresponding one
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#define UP_BUTTON 1
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#define DOWN_BUTTON 2
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#define LEFT_BUTTON 4
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@@ -36,8 +38,16 @@
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#define INSTRUCTION_BYTES_PAN_SPEED 1
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#define INSTRUCTION_BYTES_TILT_SPEED 2
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#define INSTRUCTION_BYTES_PAN_TILT_SPEED 3
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#define INSTRUCTION_BYTES_SLIDER_PAN_TILT_SPEED 4
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#define INPUT_DEADZONE 1000
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#define INPUT_DEADZONE 4000
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#define MAXIMUM_PAN_STEP_SPEED 1130.0 //steps per second
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#define MAXIMUM_TILT_STEP_SPEED 410.0
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#define MAXIMUM_SLIDER_STEP_SPEED 900.0
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//triggers are 8 bit
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//analogsticks are 16bit
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//Flags
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bool portOpenFlag = false; //The flag used to determin if the serial port for the Arduino Nano is opened
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@@ -200,6 +210,24 @@ int sendPanTiltStepSpeed(int command, int num){
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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int sendSliderPanTiltStepSpeed(int command, short *arr){
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char data[7]; //Data array to send
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data[0] = command;
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data[1] = (arr[0] >> 8) & 0xFF; //Gets the most significant byte
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data[2] = arr[0] & 0xFF; //Gets the second most significant byte
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data[3] = (arr[1] >> 8) & 0xFF;
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data[4] = arr[1] & 0xFF;
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data[5] = (arr[2] >> 8) & 0xFF;
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data[6] = arr[2] & 0xFF; //Gets the least significant byte
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serialWrite(data, sizeof(data)); //Send the command and the 6 bytes of data
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return 0;
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}
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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std::string getPortName(std::string filePath){
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std::string line;
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std::cout << "Reading port name from: " << filePath << std::endl;
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@@ -221,7 +249,7 @@ std::string getPortName(std::string filePath){
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int panTiltInit(void){
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//Connects to the com port that the Arduino is connected to.
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for(int i = 0; (i < 5) && (serialConnect(getPortName("D:\\Documents\\Projects\\Pan Tilt Mount\\serial_port.txt").c_str()) != 0 ); i++){
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for(int i = 0; (i < 5) && (serialConnect(getPortName("D:\\Documents\\Projects\\Pan Tilt Mount\\serial_port.txt").c_str()) != 0 ); i++){ //path to .txt files containing the name of the COM port. The file should contain "\\.\COM10" without quotes to connect to COM10
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Sleep(1000);
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if(i == 4){
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std::cout << "Error: Unable to open serial port after 5 attempts..." << std::endl;
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@@ -235,7 +263,7 @@ int panTiltInit(void){
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int main(void){
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panTiltInit();
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short shortVals[3] = {0, 0, 0};
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DWORD dwResult;
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WORD lastwButtons = 0;
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DWORD lastDwPacketNumber = 0;
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@@ -247,46 +275,77 @@ int main(void){
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if(dwResult == ERROR_SUCCESS){ //Controller is connected
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printf("Connected.\n");
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while(1){
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if (GetKeyState(VK_ESCAPE) & 0x8000) { //MSB is key state (1 if pressed). LSB is the toggle state
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break;
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}
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if (GetKeyState(VK_F8) & 0x8000) {
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char data[10];
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std::cin.getline(data, 10);
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std::cin.clear();
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serialWrite(data, sizeof(data));
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}
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printIncomingData();
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XInputGetState(i, &state);
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//printf("dw packet number: %d\n", state.dwPacketNumber);
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if(state.dwPacketNumber != lastDwPacketNumber){
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short RXShort = 0;
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short RYShort = 0;
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short LXShort = 0;
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float RX = state.Gamepad.sThumbRX; //Get right analog stick X value
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if(abs(RX) < XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE){
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RX = 0;
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}
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else if(RX > 0){
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RX -= XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE;
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}
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else if(RX < 0){
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RX += XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE;
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}
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short RXShort = -(short(((float)RX * 2000.0) / (32767.0 - XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE))); //Normalise to a range of -2000 to 2000
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float RY = state.Gamepad.sThumbRY; //Get right analog stick Y value
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if(abs(RY) < XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE){
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RY = 0;
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}
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else if(RY > 0){
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RY -= XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE;
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}
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else if(RY < 0){
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RY += XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE;
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}
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short RYShort = -(short(((float)RY * 2000.0) / (32767.0 - XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE))); //Normalise to a range of -2000 to 2000
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float LX = state.Gamepad.sThumbLX; //Get left analog stick X value
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float LY = state.Gamepad.sThumbLY; //Get left analog stick Y value
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float magnitude = sqrt(RX * RX + RY * RY);
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float magnitudeL = sqrt(LX * LX + LY * LY);
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int RXRYInt = (RXShort << 16) + RYShort; //Combine both the X and Y 2 byte short values into one 4 byte int value
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sendPanTiltStepSpeed(INSTRUCTION_BYTES_PAN_TILT_SPEED, RXRYInt); //send the combned X and Y values
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float normalizedMagnitude = 0;
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if(magnitude > INPUT_DEADZONE){ //check if the controller is outside a circular dead zone
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if(magnitude > 32767){ //clip the magnitude at its expected maximum value
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magnitude = 32767;
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}
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normalizedMagnitude = magnitude / (32767 - INPUT_DEADZONE);
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float scale = normalizedMagnitude / magnitude;
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RXShort = -((RX * scale) * abs(RX * scale) * MAXIMUM_PAN_STEP_SPEED);
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RYShort = -((RY * scale) * abs(RY * scale) * MAXIMUM_TILT_STEP_SPEED);
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}
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else{
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RXShort = 0;
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RYShort = 0;
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}
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float normalizedMagnitudeL = 0;
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if(magnitudeL > INPUT_DEADZONE){ //check if the controller is outside a circular dead zone
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if(magnitudeL > 32767){ //clip the magnitude at its expected maximum value
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magnitudeL = 32767;
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}
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normalizedMagnitudeL = magnitudeL / (32767 - INPUT_DEADZONE);
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float scale = normalizedMagnitudeL / magnitudeL;
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LXShort = (LX * scale) * abs(LX * scale) * MAXIMUM_SLIDER_STEP_SPEED;
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}
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else{
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LXShort = 0;
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}
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shortVals[0] = LXShort;
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printf("LXShort: %d \n", LXShort);
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shortVals[1] = RXShort;
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printf("RXShort: %d \n", RXShort);
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shortVals[2] = RYShort;
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printf("RYShort: %d \n", RYShort);
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sendSliderPanTiltStepSpeed(INSTRUCTION_BYTES_SLIDER_PAN_TILT_SPEED, shortVals); //send the combned values
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Sleep(10);
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if((lastwButtons & UP_BUTTON) < (state.Gamepad.wButtons & UP_BUTTON)){
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printf("Up: %d \n", (state.Gamepad.wButtons & UP_BUTTON));
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sendCharArray((char *)"["); //Up first element
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sendCharArray((char *)"@"); //Up first element
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}
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if((lastwButtons & DOWN_BUTTON) < (state.Gamepad.wButtons & DOWN_BUTTON)){
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printf("Down: %d \n", ((state.Gamepad.wButtons & UP_BUTTON) >> 1));
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sendCharArray((char *)"]"); //down last element
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sendCharArray((char *)"Z"); //down last element
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}
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if((lastwButtons & LEFT_BUTTON) < (state.Gamepad.wButtons & LEFT_BUTTON)){
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printf("Left: %d \n", ((state.Gamepad.wButtons & LEFT_BUTTON) >> 2));
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@@ -306,7 +365,7 @@ int main(void){
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}
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if((lastwButtons & L_BUTTON) < (state.Gamepad.wButtons & L_BUTTON)){
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printf("L: %d \n", ((state.Gamepad.wButtons & L_BUTTON) >> 6));
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sendCharArray((char *)"m4"); //step mode
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sendCharArray((char *)"m2"); //half step mode
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}
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if((lastwButtons & R_BUTTON) < (state.Gamepad.wButtons & R_BUTTON)){
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printf("R: %d \n", ((state.Gamepad.wButtons & R_BUTTON) >> 7));
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