mirror of
https://github.com/isaac879/Pan-Tilt-Mount.git
synced 2026-08-16 13:03:15 +02:00
Add files via upload
This commit is contained in:
isaac879
@@ -12,7 +12,7 @@ CRGB leds[NUM_LEDS];
|
||||
|
||||
AccelStepper stepper_pan = AccelStepper(1, PIN_STEP_PAN, PIN_DIRECTION_PAN);
|
||||
AccelStepper stepper_tilt = AccelStepper(1, PIN_STEP_TILT, PIN_DIRECTION_TILT);
|
||||
//AccelStepper stepper_slider = AccelStepper(1, PIN_STEP_SLIDER, PIN_DIRECTION_SLIDER);
|
||||
AccelStepper stepper_slider = AccelStepper(1, PIN_STEP_SLIDER, PIN_DIRECTION_SLIDER);
|
||||
|
||||
MultiStepper multi_stepper;
|
||||
|
||||
@@ -23,24 +23,30 @@ int current_moves_array_index = -1;
|
||||
char stringText[MAX_STRING_LENGTH + 1];
|
||||
float pan_steps_per_degree = (200.0 * SIXTEENTH_STEP * PAN_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
|
||||
float tilt_steps_per_degree = (200.0 * SIXTEENTH_STEP * TILT_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
|
||||
//float slider_steps_per_millimetre = (200.0 * SIXTEENTH_STEP) / (20 * 2); //Stepper motor has 200 steps per 360 degrees, the timing pully has 20 teeth and the belt has a pitch of 2mm
|
||||
float slider_steps_per_millimetre = (200.0 * SIXTEENTH_STEP) / (20 * 2); //Stepper motor has 200 steps per 360 degrees, the timing pully has 20 teeth and the belt has a pitch of 2mm
|
||||
|
||||
int step_mode = 1;
|
||||
bool enable_state = true;
|
||||
float limit_pan_min = 0;
|
||||
float limit_pan_max = 0;
|
||||
float limit_tilt_min = 0;
|
||||
float limit_tilt_max = 0;
|
||||
float limit_slider_min = 0;
|
||||
float limit_slider_max = 0;
|
||||
byte enable_limits = 0;
|
||||
float pan_acceleration = 5000;
|
||||
float tilt_acceleration = 5000;
|
||||
float slider_acceleration = 5000;
|
||||
float hall_pan_offset_degrees = 0;
|
||||
float hall_tilt_offset_degrees = 0;
|
||||
byte invert_pan = 0;
|
||||
byte invert_tilt = 0;
|
||||
byte invert_slider = 0;
|
||||
byte enable_homing = 0;
|
||||
float pan_max_speed = 2000;
|
||||
float tilt_max_speed = 2000;
|
||||
long target_position[2];
|
||||
float slider_max_speed = 2000;
|
||||
long target_position[3];
|
||||
float degrees_per_picture = 0.5;
|
||||
unsigned long delay_ms_between_pictures = 1000;
|
||||
|
||||
@@ -66,19 +72,20 @@ void initPanTilt(void){
|
||||
setEEPROMVariables();
|
||||
stepper_pan.setMinPulseWidth(20);
|
||||
stepper_tilt.setMinPulseWidth(20);
|
||||
//stepper_slider.setMinPulseWidth(20);
|
||||
stepper_slider.setMinPulseWidth(20);
|
||||
setStepMode(step_mode); //steping mode
|
||||
stepper_pan.setMaxSpeed(pan_max_speed);
|
||||
stepper_pan.setAcceleration(pan_acceleration);
|
||||
stepper_tilt.setMaxSpeed(tilt_max_speed);
|
||||
stepper_tilt.setAcceleration(tilt_acceleration);
|
||||
//stepper_slider.setMaxSpeed(slider_max_speed);
|
||||
//stepper_slider.setAcceleration(slider_acceleration);
|
||||
stepper_slider.setMaxSpeed(slider_max_speed);
|
||||
stepper_slider.setAcceleration(slider_acceleration);
|
||||
invertPanDirection(invert_pan);
|
||||
invertTiltDirection(invert_tilt);
|
||||
invertSliderDirection(invert_slider);
|
||||
multi_stepper.addStepper(stepper_pan);
|
||||
multi_stepper.addStepper(stepper_tilt);
|
||||
//multi_stepper.addStepper(stepper_slider);
|
||||
multi_stepper.addStepper(stepper_slider);
|
||||
enableSteppers(true);
|
||||
LEDS.showColor(CHSV(96 , 255, 255));
|
||||
printi(F("Setup complete.\n"));
|
||||
@@ -158,10 +165,12 @@ void setStepMode(int mode){
|
||||
if(step_mode == 1){//was in sixteenth step mode
|
||||
stepper_pan.setCurrentPosition(stepper_pan.currentPosition() / SIXTEENTH_STEP);
|
||||
stepper_tilt.setCurrentPosition(stepper_tilt.currentPosition() / SIXTEENTH_STEP);
|
||||
stepper_slider.setCurrentPosition(stepper_slider.currentPosition() / SIXTEENTH_STEP);
|
||||
}
|
||||
digitalWrite(PIN_MS, LOW);
|
||||
pan_steps_per_degree = (200.0 * FULL_STEP * PAN_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
|
||||
tilt_steps_per_degree = (200.0 * FULL_STEP * TILT_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
|
||||
slider_steps_per_millimetre = (200.0 * FULL_STEP) / (20 * 2);
|
||||
step_mode = 0;
|
||||
printi(F("Set to Full Step mode.\n"));
|
||||
}
|
||||
@@ -169,10 +178,12 @@ void setStepMode(int mode){
|
||||
if(step_mode == 0){//was in full step mode
|
||||
stepper_pan.setCurrentPosition(stepper_pan.currentPosition() * SIXTEENTH_STEP);
|
||||
stepper_tilt.setCurrentPosition(stepper_tilt.currentPosition() * SIXTEENTH_STEP);
|
||||
stepper_slider.setCurrentPosition(stepper_slider.currentPosition() * SIXTEENTH_STEP);
|
||||
}
|
||||
digitalWrite(PIN_MS, HIGH);
|
||||
pan_steps_per_degree = (200.0 * SIXTEENTH_STEP * PAN_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
|
||||
tilt_steps_per_degree = (200.0 * SIXTEENTH_STEP * TILT_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
|
||||
slider_steps_per_millimetre = (200.0 * SIXTEENTH_STEP) / (20 * 2);
|
||||
step_mode = 1;
|
||||
printi(F("Set to Sixteenth Step mode.\n"));
|
||||
}
|
||||
@@ -208,14 +219,35 @@ float tiltDegreesToSteps(float angle){
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
float sliderMillimetresToSteps(float mm){
|
||||
return mm * slider_steps_per_millimetre ;
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
float sliderStepsToMillimetres(long steps){
|
||||
return steps / slider_steps_per_millimetre;
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
void sliderMoveTo(float mm){
|
||||
target_position[2] = sliderMillimetresToSteps(mm);
|
||||
multi_stepper.moveTo(target_position);
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
void printProgramElements(void){
|
||||
printi(F("-----Program Elements-----\n"));
|
||||
for(int row = 0; row < moves_array_elements; row++){
|
||||
printi(F(""), row, F("\t|"));
|
||||
printi(F(" Pan: "), panStepsToDegrees(program_elements[row].panStepCount), 3, F("º\t"));
|
||||
printi(F("Tilt: "), tiltStepsToDegrees(program_elements[row].tiltStepCount), 3, F("º\t"));
|
||||
printi(F("Slider: "), sliderStepsToMillimetres(program_elements[row].sliderStepCount), 3, F("mm\t"));
|
||||
printi(F("Pan Speed: "), panStepsToDegrees(program_elements[row].panSpeed), 3, F(" º/s\t"));
|
||||
printi(F("Tilt Speed: "), tiltStepsToDegrees(program_elements[row].tiltSpeed), 3, F(" º/s\t"));
|
||||
printi(F("Slider Speed: "), sliderStepsToMillimetres(program_elements[row].sliderSpeed), 3, F(" mm/s\t"));
|
||||
printi(F("Delay: "), program_elements[row].msDelay, F("ms |\n"));
|
||||
}
|
||||
printi(F("\n"));
|
||||
@@ -227,33 +259,45 @@ void debugReport(void){
|
||||
printi(F("----------Debug Report----------\n"));
|
||||
printi(F("Stepper enable state: "), enable_state);
|
||||
printi(F("Step Mode: "), step_mode);
|
||||
printi(F("Pan Hall sensor state: "), digitalRead(PIN_PAN_HALL));
|
||||
printi(F("Tilt Hall sensor state: "), digitalRead(PIN_TILT_HALL));
|
||||
printi(F("Pan step count: "), stepper_pan.currentPosition());
|
||||
printi("Tilt step count: ", stepper_tilt.currentPosition());
|
||||
// printi(F("Pan Hall sensor state: "), digitalRead(PIN_PAN_HALL));
|
||||
// printi(F("Tilt Hall sensor state: "), digitalRead(PIN_TILT_HALL));
|
||||
// printi(F("Pan step count: "), stepper_pan.currentPosition());
|
||||
// printi("Tilt step count: ", stepper_tilt.currentPosition());
|
||||
printi("Slider step count: ", stepper_slider.currentPosition());
|
||||
printi(F("Pan angle: "), panStepsToDegrees(stepper_pan.currentPosition()), 3, F("º\n"));
|
||||
printi(F("Tilt angle: "), tiltStepsToDegrees(stepper_tilt.currentPosition()), 3, F("º\n"));
|
||||
printi(F("Pan steps per º: "), pan_steps_per_degree);
|
||||
printi(F("Tilt steps per º: "), tilt_steps_per_degree);
|
||||
printi(F("Pan current steps/s: "), stepper_pan.speed());
|
||||
printi(F("Tilt current steps/s: "), stepper_tilt.speed());
|
||||
printi(F("Slider position: "), sliderStepsToMillimetres(stepper_slider.currentPosition()), 3, F("mm\n"));
|
||||
// printi(F("Pan steps per º: "), pan_steps_per_degree);
|
||||
// printi(F("Tilt steps per º: "), tilt_steps_per_degree);
|
||||
printi(F("Slider steps per mm: "), slider_steps_per_millimetre);
|
||||
// printi(F("Pan current steps/s: "), stepper_pan.speed());
|
||||
// printi(F("Tilt current steps/s: "), stepper_tilt.speed());
|
||||
printi(F("Slider current steps/s: "), stepper_slider.speed());
|
||||
printi(F("Pan current º/s: "), panStepsToDegrees(stepper_pan.speed()));
|
||||
printi(F("Tilt current º/s: "), tiltStepsToDegrees(stepper_tilt.speed()));
|
||||
printi(F("Pan maximum steps/s: "), stepper_pan.maxSpeed());
|
||||
printi(F("Tilt maximum steps/s: "), stepper_tilt.maxSpeed());
|
||||
printi(F("Slider current mm/s: "), sliderStepsToMillimetres(stepper_slider.speed()));
|
||||
// printi(F("Pan maximum steps/s: "), stepper_pan.maxSpeed());
|
||||
// printi(F("Tilt maximum steps/s: "), stepper_tilt.maxSpeed());
|
||||
printi(F("Slider maximum steps/s: "), stepper_slider.maxSpeed());
|
||||
printi(F("Pan maximum º/s: "), panStepsToDegrees(stepper_pan.maxSpeed()));
|
||||
printi(F("Tilt maximum º/s: "), tiltStepsToDegrees(stepper_tilt.maxSpeed()));
|
||||
printi(F("Pan acceleration steps/s/s: "), pan_acceleration);
|
||||
printi(F("Tilt acceleration steps/s/s: "), tilt_acceleration);
|
||||
printi(F("Pan acceleration steps/s/s: "), panStepsToDegrees(pan_acceleration));
|
||||
printi(F("Tilt acceleration steps/s/s: "), tiltStepsToDegrees(tilt_acceleration));
|
||||
printi(F("Slider maximum mm/s: "), sliderStepsToMillimetres(stepper_slider.maxSpeed()));
|
||||
// printi(F("Pan acceleration steps/s/s: "), pan_acceleration);
|
||||
// printi(F("Tilt acceleration steps/s/s: "), tilt_acceleration);
|
||||
printi(F("Slider acceleration steps/s/s: "), slider_acceleration);
|
||||
// printi(F("Pan acceleration º/s/s: "), panStepsToDegrees(pan_acceleration));
|
||||
// printi(F("Tilt acceleration º/s/s: "), tiltStepsToDegrees(tilt_acceleration));
|
||||
printi(F("Slider acceleration mm/s/s: "), sliderStepsToMillimetres(slider_acceleration));
|
||||
printi(F("Pan min limit: "), limit_pan_min, 3, F("º\n"));
|
||||
printi(F("Pan max limit: "), limit_pan_max, 3, F("º\n"));
|
||||
printi(F("Pan max limit: "), limit_pan_max, 3, F("º\n"));
|
||||
printi(F("Tilt min limit: "), limit_tilt_min, 3, F("º\n"));
|
||||
printi(F("Tilt max limit: "), limit_tilt_max, 3, F("º\n"));
|
||||
printi(F("Slider min limit: "), limit_slider_min, 3, F("mm\n"));
|
||||
printi(F("Slider max limit: "), limit_slider_max, 3, F("mm\n"));
|
||||
printi(F("Enable limits: "), enable_limits);
|
||||
printi(F("Pan invert direction: "), invert_pan);
|
||||
printi(F("Tilt invert direction: "), invert_tilt);
|
||||
printi(F("Slider invert direction: "), invert_slider);
|
||||
printi(F("Pan Hall offset: "), hall_pan_offset_degrees, 3, F("º\n"));
|
||||
printi(F("Tilt Hall offset: "), hall_tilt_offset_degrees, 3, F("º\n"));
|
||||
printi(F("Battery voltage: "), getBatteryVoltage(), 3, F("V\n"));
|
||||
@@ -271,7 +315,7 @@ void debugReport(void){
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
int setTargetPositions(float panDeg, float tiltDeg){//TODO: limits
|
||||
int setTargetPositions(float panDeg, float tiltDeg){
|
||||
if(enable_limits == 1 && !((panDeg >= limit_pan_min && panDeg <= limit_pan_max) && (tiltDeg >= limit_tilt_min && tiltDeg <= limit_tilt_max))){
|
||||
return -1;
|
||||
}
|
||||
@@ -282,12 +326,25 @@ int setTargetPositions(float panDeg, float tiltDeg){//TODO: limits
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
int setTargetPositionsSteps(long panSteps, long tiltSteps){//TODO: limits
|
||||
target_position[0] = panSteps;
|
||||
target_position[1] = tiltSteps;
|
||||
int setTargetPositions(float panDeg, float tiltDeg, float sliderMillimetre){
|
||||
if(enable_limits == 1 && !((panDeg >= limit_pan_min && panDeg <= limit_pan_max) && (tiltDeg >= limit_tilt_min && tiltDeg <= limit_tilt_max)
|
||||
&& (sliderMillimetre >= limit_slider_min && sliderMillimetre <= limit_slider_max))){
|
||||
return -1;
|
||||
}
|
||||
target_position[0] = panDegreesToSteps(panDeg);
|
||||
target_position[1] = tiltDegreesToSteps(tiltDeg);
|
||||
target_position[2] = sliderMillimetresToSteps(sliderMillimetre);
|
||||
multi_stepper.moveTo(target_position);
|
||||
}
|
||||
|
||||
///*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
//
|
||||
//int setTargetPositionsSteps(long panSteps, long tiltSteps){//TODO: limits
|
||||
// target_position[0] = panSteps;
|
||||
// target_position[1] = tiltSteps;
|
||||
// multi_stepper.moveTo(target_position);
|
||||
//}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
bool findHome(void){
|
||||
@@ -415,8 +472,10 @@ int addPosition(void){
|
||||
if(moves_array_elements >= 0 && moves_array_elements < ARRAY_LENGTH){
|
||||
program_elements[moves_array_elements].panStepCount = stepper_pan.currentPosition();
|
||||
program_elements[moves_array_elements].tiltStepCount = stepper_tilt.currentPosition();
|
||||
program_elements[moves_array_elements].sliderStepCount = stepper_slider.currentPosition();
|
||||
program_elements[moves_array_elements].panSpeed = stepper_pan.maxSpeed();
|
||||
program_elements[moves_array_elements].tiltSpeed = stepper_tilt.maxSpeed();
|
||||
program_elements[moves_array_elements].sliderSpeed = stepper_slider.maxSpeed();
|
||||
current_moves_array_index = moves_array_elements;
|
||||
moves_array_elements++;//increment the index
|
||||
printi(F("Position added at index: "), current_moves_array_index);
|
||||
@@ -434,8 +493,10 @@ void clearArray(void){
|
||||
for(int row = 0; row < ARRAY_LENGTH; row++){
|
||||
program_elements[row].panStepCount = 0;
|
||||
program_elements[row].tiltStepCount = 0;
|
||||
program_elements[row].sliderStepCount = 0;
|
||||
program_elements[row].panSpeed = 0;
|
||||
program_elements[row].tiltSpeed = 0;
|
||||
program_elements[row].sliderSpeed = 0;
|
||||
program_elements[row].msDelay = 0;
|
||||
}
|
||||
moves_array_elements = 0;
|
||||
@@ -449,8 +510,10 @@ void moveToIndex(int index){
|
||||
if(index < moves_array_elements && index >= 0){
|
||||
target_position[0] = program_elements[index].panStepCount;
|
||||
target_position[1] = program_elements[index].tiltStepCount;
|
||||
target_position[2] = program_elements[index].sliderStepCount;
|
||||
stepper_pan.setMaxSpeed(program_elements[index].panSpeed);
|
||||
stepper_tilt.setMaxSpeed(program_elements[index].tiltSpeed);
|
||||
stepper_slider.setMaxSpeed(program_elements[index].sliderSpeed);
|
||||
multi_stepper.moveTo(target_position); //Sets new target positions
|
||||
multi_stepper.runSpeedToPosition(); //Moves and blocks until complete
|
||||
delay(program_elements[index].msDelay);
|
||||
@@ -493,9 +556,12 @@ void gotoMovesArrayEnd(void){
|
||||
|
||||
void editMovesArrayIndex(void){
|
||||
program_elements[current_moves_array_index].panStepCount = stepper_pan.currentPosition();
|
||||
program_elements[current_moves_array_index].tiltStepCount = stepper_tilt.currentPosition();
|
||||
program_elements[current_moves_array_index].tiltStepCount = stepper_tilt.currentPosition();
|
||||
program_elements[current_moves_array_index].sliderStepCount = stepper_slider.currentPosition();
|
||||
program_elements[current_moves_array_index].panSpeed = stepper_pan.maxSpeed();
|
||||
program_elements[current_moves_array_index].tiltSpeed = stepper_tilt.maxSpeed();
|
||||
program_elements[current_moves_array_index].sliderSpeed = stepper_slider.maxSpeed();
|
||||
|
||||
printi(F("Position edited at index: "), current_moves_array_index);
|
||||
}
|
||||
|
||||
@@ -539,6 +605,21 @@ void scaleMovesArrayTiltMaxSpeed(float newMax){
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
void scaleMovesArraySliderMaxSpeed(float newMax){
|
||||
float currentMax = 0;
|
||||
for(int row = 0; row < moves_array_elements; row++){ //Find the maximum pan speed
|
||||
if(program_elements[row].sliderSpeed > currentMax){
|
||||
currentMax = program_elements[row].sliderSpeed;
|
||||
}
|
||||
}
|
||||
float speedRatio = newMax / currentMax;
|
||||
for(int row = 0; row < moves_array_elements; row++){ //Scale all the pan speeds
|
||||
program_elements[row].sliderSpeed = program_elements[row].sliderSpeed * speedRatio;
|
||||
}
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
void invertPanDirection(bool invert){
|
||||
printi(F("Setting pan inversion to: "), invert);
|
||||
invert_pan = invert;
|
||||
@@ -550,7 +631,15 @@ void invertPanDirection(bool invert){
|
||||
void invertTiltDirection(bool invert){
|
||||
printi(F("Setting tilt inversion to: "), invert);
|
||||
invert_tilt = invert;
|
||||
stepper_pan.setPinsInverted(invert, false, false);
|
||||
stepper_tilt.setPinsInverted(invert, false, false);
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
void invertSliderDirection(bool invert){
|
||||
printi(F("Setting slider inversion to: "), invert);
|
||||
invert_slider = invert;
|
||||
stepper_slider.setPinsInverted(invert, false, false);
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
@@ -564,12 +653,15 @@ void saveEEPROM(void){
|
||||
// EEPROM.put(EEPROM_ADDRESS_LIMIT_TILT_MAX, limit_tilt_max);
|
||||
EEPROM.put(EEPROM_ADDRESS_PAN_MAX_SPEED, pan_max_speed);
|
||||
EEPROM.put(EEPROM_ADDRESS_TILT_MAX_SPEED, tilt_max_speed);
|
||||
EEPROM.put(EEPROM_ADDRESS_SLIDER_MAX_SPEED, slider_max_speed);
|
||||
EEPROM.put(EEPROM_ADDRESS_PAN_ACCELERATION, pan_acceleration);
|
||||
EEPROM.put(EEPROM_ADDRESS_TILT_ACCELERATION, tilt_acceleration);
|
||||
EEPROM.put(EEPROM_ADDRESS_SLIDER_ACCELERATION, slider_acceleration);
|
||||
EEPROM.put(EEPROM_ADDRESS_HALL_PAN_OFFSET, hall_pan_offset_degrees);
|
||||
EEPROM.put(EEPROM_ADDRESS_HALL_TILT_OFFSET, hall_tilt_offset_degrees);
|
||||
EEPROM.put(EEPROM_ADDRESS_INVERT_PAN, invert_pan);
|
||||
EEPROM.put(EEPROM_ADDRESS_INVERT_TILT, invert_tilt);
|
||||
EEPROM.put(EEPROM_ADDRESS_INVERT_SLIDER, invert_slider);
|
||||
EEPROM.put(EEPROM_ADDRESS_DEGREES_PER_PICTURE, degrees_per_picture);
|
||||
EEPROM.put(EEPROM_ADDRESS_TIMELAPSE_DELAY, delay_ms_between_pictures);
|
||||
EEPROM.put(EEPROM_ADDRESS_ENABLE_LIMITS, enable_limits);
|
||||
@@ -577,6 +669,8 @@ void saveEEPROM(void){
|
||||
EEPROM.put(EEPROM_ADDRESS_PAN_MAX_LIMIT, limit_pan_max);
|
||||
EEPROM.put(EEPROM_ADDRESS_TILT_MIN_LIMIT, limit_tilt_min);
|
||||
EEPROM.put(EEPROM_ADDRESS_TILT_MAX_LIMIT, limit_tilt_max);
|
||||
EEPROM.put(EEPROM_ADDRESS_SLIDER_MIN_LIMIT, limit_slider_min);
|
||||
EEPROM.put(EEPROM_ADDRESS_SLIDER_MAX_LIMIT, limit_slider_max);
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
@@ -605,10 +699,14 @@ void printEEPROM(void){
|
||||
printi(F("Pan max speed: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_SPEED, ftemp);
|
||||
printi(F("Tilt max speed: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_PAN_ACCELERATION, ftemp);
|
||||
printi(F("Pan max acceleration: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_ACCELERATION, ftemp);
|
||||
printi(F("Tilt max acceleration: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_MAX_SPEED, ftemp);
|
||||
printi(F("Slider max speed: "), ftemp);
|
||||
// EEPROM.get(EEPROM_ADDRESS_PAN_ACCELERATION, ftemp);
|
||||
// printi(F("Pan max acceleration: "), ftemp);
|
||||
// EEPROM.get(EEPROM_ADDRESS_TILT_ACCELERATION, ftemp);
|
||||
// printi(F("Tilt max acceleration: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_ACCELERATION, ftemp);
|
||||
printi(F("Slider max acceleration: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_HALL_PAN_OFFSET, ftemp);
|
||||
printi(F("Pan Hall offset: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_HALL_TILT_OFFSET, ftemp);
|
||||
@@ -616,9 +714,10 @@ void printEEPROM(void){
|
||||
EEPROM.get(EEPROM_ADDRESS_DEGREES_PER_PICTURE, ftemp);
|
||||
printi(F("Angle between pictures: "), ftemp, 3, F(" degrees\n"));
|
||||
EEPROM.get(EEPROM_ADDRESS_TIMELAPSE_DELAY, ltemp);
|
||||
printi(F("Timelapse delay between pictures: "), ltemp, F("ms\n"));
|
||||
printi(F("Delay between pictures: "), ltemp, F("ms\n"));
|
||||
printi(F("Pan invert: "), EEPROM.read(EEPROM_ADDRESS_INVERT_PAN));
|
||||
printi(F("Tilt invert: "), EEPROM.read(EEPROM_ADDRESS_INVERT_TILT));
|
||||
printi(F("Slider invert: "), EEPROM.read(EEPROM_ADDRESS_INVERT_SLIDER));
|
||||
printi(F("Homing on start-up: "), EEPROM.read(EEPROM_ADDRESS_ENABLE_HOMING));
|
||||
printi(F("Enable limits: "), EEPROM.read(EEPROM_ADDRESS_ENABLE_LIMITS));
|
||||
EEPROM.get(EEPROM_ADDRESS_PAN_MIN_LIMIT, ftemp);
|
||||
@@ -628,7 +727,11 @@ void printEEPROM(void){
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_MIN_LIMIT, ftemp);
|
||||
printi(F("Tilt min limit: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_LIMIT, ftemp);
|
||||
printi(F("Tilt max limit: "), ftemp);
|
||||
printi(F("Tilt max limit: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_MIN_LIMIT, ftemp);
|
||||
printi(F("Slider min limit: "), ftemp);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_MAX_LIMIT, ftemp);
|
||||
printi(F("Slider max limit: "), ftemp);
|
||||
printi(F("--------------------\n"));
|
||||
}
|
||||
|
||||
@@ -643,8 +746,10 @@ void setEEPROMVariables(void){
|
||||
// EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MAX, limit_tilt_max);
|
||||
EEPROM.get(EEPROM_ADDRESS_PAN_MAX_SPEED, pan_max_speed);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_SPEED, tilt_max_speed);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_MAX_SPEED, slider_max_speed);
|
||||
EEPROM.get(EEPROM_ADDRESS_PAN_ACCELERATION, pan_acceleration);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_ACCELERATION, tilt_acceleration);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_ACCELERATION, slider_acceleration);
|
||||
EEPROM.get(EEPROM_ADDRESS_HALL_PAN_OFFSET, hall_pan_offset_degrees);
|
||||
EEPROM.get(EEPROM_ADDRESS_HALL_TILT_OFFSET, hall_tilt_offset_degrees);
|
||||
EEPROM.get(EEPROM_ADDRESS_DEGREES_PER_PICTURE, degrees_per_picture);
|
||||
@@ -654,8 +759,11 @@ void setEEPROMVariables(void){
|
||||
EEPROM.get(EEPROM_ADDRESS_PAN_MAX_LIMIT, limit_pan_max);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_MIN_LIMIT, limit_tilt_min);
|
||||
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_LIMIT, limit_tilt_max);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_MIN_LIMIT, limit_slider_min);
|
||||
EEPROM.get(EEPROM_ADDRESS_SLIDER_MAX_LIMIT, limit_slider_max);
|
||||
invert_pan = EEPROM.read(EEPROM_ADDRESS_INVERT_PAN);
|
||||
invert_tilt = EEPROM.read(EEPROM_ADDRESS_INVERT_TILT);
|
||||
invert_slider = EEPROM.read(EEPROM_ADDRESS_INVERT_SLIDER);
|
||||
enable_homing = EEPROM.read(EEPROM_ADDRESS_ENABLE_HOMING);
|
||||
printi(F("Values set.\n"));
|
||||
}
|
||||
@@ -704,6 +812,7 @@ void ledBatteryLevel(float batteryPercentage){
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
void timeLapseInterpolation(float panStartAngle, float tiltStartAngle, float panStopAngle, float tiltStopAngle, float degPerPic, unsigned long msDelay){
|
||||
if(degPerPic == 0) return;
|
||||
if(msDelay > SHUTTER_DELAY){
|
||||
msDelay = msDelay - SHUTTER_DELAY;
|
||||
}
|
||||
@@ -719,7 +828,9 @@ void timeLapseInterpolation(float panStartAngle, float tiltStartAngle, float pan
|
||||
setTargetPositions(panStartAngle + (panInc * i), tiltStartAngle + (tiltInc * i));
|
||||
multi_stepper.runSpeedToPosition();//blocking move to the next position
|
||||
delay(msDelay);
|
||||
LEDS.showColor(CHSV(160 , 255, 255)); //blue
|
||||
triggerCameraShutter();//capture the picture
|
||||
LEDS.showColor(CHSV(160 , 255, 0)); //off
|
||||
}
|
||||
}
|
||||
|
||||
@@ -731,9 +842,7 @@ void timeLapse(float degPerPic, unsigned long msDelay, int repeat){
|
||||
return; //check there are posions to move to
|
||||
}
|
||||
for(int i = 0; i < repeat; i++){
|
||||
//printi(F("Loop: "), repeat);
|
||||
for(int index = 0; index < moves_array_elements - 1; index++){//check what hapens at last element (loop back)
|
||||
//printi(F("Index: "), index);
|
||||
for(int index = 0; index < moves_array_elements - 1; index++){//check what happens at last element (loop back)
|
||||
timeLapseInterpolation(panStepsToDegrees(program_elements[index].panStepCount), tiltStepsToDegrees(program_elements[index].tiltStepCount),
|
||||
panStepsToDegrees(program_elements[index + 1].panStepCount), tiltStepsToDegrees(program_elements[index + 1].tiltStepCount), degPerPic, msDelay);
|
||||
}
|
||||
@@ -742,15 +851,17 @@ void timeLapse(float degPerPic, unsigned long msDelay, int repeat){
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
//float sliderStepsToMillimetres(long steps){
|
||||
// return steps / SLIDER_MILLIMETRE_RATIO;
|
||||
//}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
//long sliderMilimeterToSteps(float mm){
|
||||
// return mm * SLIDER_MILLIMETRE_RATIO;
|
||||
//}
|
||||
void staticTimeLapse(unsigned int numberOfPictures, unsigned long msDelay){
|
||||
if(msDelay > SHUTTER_DELAY){
|
||||
msDelay = msDelay - SHUTTER_DELAY;
|
||||
}
|
||||
for(int i = 0; i < numberOfPictures; i++){
|
||||
delay(msDelay);
|
||||
LEDS.showColor(CHSV(160 , 255, 255)); //blue
|
||||
triggerCameraShutter();//capture the picture
|
||||
LEDS.showColor(CHSV(160 , 255, 0)); //off
|
||||
}
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
||||
|
||||
@@ -768,6 +879,21 @@ void serialData(void){
|
||||
float serialCommandValueFloat = atof(stringText); //converts stringText to a float
|
||||
if(instruction == 'G' && stringText[0] == 0) return;//For the bluetooth issue of it sending data when it connects...
|
||||
switch(instruction){
|
||||
case INSTRUCTION_SLIDER_MIN_LIMIT:{
|
||||
limit_slider_min = serialCommandValueFloat;
|
||||
printi(F("Slider min limit set to: "), limit_slider_min, 3, F("mm\n"));
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_SLIDER_MAX_LIMIT:{
|
||||
limit_slider_max = serialCommandValueFloat;
|
||||
printi(F("Slider max limit set to: "), limit_slider_max, 3, F("mm\n"));
|
||||
}
|
||||
break;
|
||||
|
||||
case INSTRUCTION_SLIDER_MILLIMETRES:{
|
||||
sliderMoveTo(serialCommandValueFloat);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_DELAY_BETWEEN_PICTURES:{
|
||||
delay_ms_between_pictures = serialCommandValueFloat;
|
||||
printi(F("Delay between pictures: "), delay_ms_between_pictures, F("ms\n"));
|
||||
@@ -803,9 +929,16 @@ void serialData(void){
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_TIMELAPSE:{
|
||||
printi(F("Starting timelapse...\n"));
|
||||
printi(F("Starting panorama.\n"));
|
||||
timeLapse(degrees_per_picture, delay_ms_between_pictures, 1);
|
||||
printi(F("Timelapse finished\n"));
|
||||
printi(F("Finished\n"));
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_STATIC_TIMELAPSE:{
|
||||
printi(F("Starting timelapse with:\n"), serialCommandValueInt, F(" pics\n"));
|
||||
printi(F(""), delay_ms_between_pictures, F("ms between pics\n"));
|
||||
timeLapse(serialCommandValueInt, delay_ms_between_pictures, 1);
|
||||
printi(F("Finished\n"));
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_SCALE_PAN_SPEED:{
|
||||
@@ -821,7 +954,7 @@ void serialData(void){
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_AUTO_HOME:{
|
||||
printi(F("Beginning homing...\n"));
|
||||
printi(F("Beginning homing.\n"));
|
||||
if(findHome()){
|
||||
printi(F("Homing complete.\n"));
|
||||
}
|
||||
@@ -829,7 +962,7 @@ void serialData(void){
|
||||
stepper_pan.setCurrentPosition(0);
|
||||
stepper_tilt.setCurrentPosition(0);
|
||||
setTargetPositions(0, 0);
|
||||
printi(F("Error finding home position... Current position has been set as home.\n"));
|
||||
printi(F("Error homing. Current position has been set as home.\n"));
|
||||
}
|
||||
}
|
||||
break;
|
||||
@@ -844,6 +977,10 @@ void serialData(void){
|
||||
case INSTRUCTION_SET_TILT_HALL_OFFSET:{
|
||||
hall_tilt_offset_degrees = serialCommandValueFloat;
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_INVERT_SLIDER:{
|
||||
invertSliderDirection(serialCommandValueInt);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_INVERT_TILT:{
|
||||
invertTiltDirection(serialCommandValueInt);
|
||||
@@ -854,7 +991,7 @@ void serialData(void){
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_SAVE_TO_EEPROM:{
|
||||
printi(F("Saving values to EEPROM... \n"));
|
||||
printi(F("Saving values to EEPROM.\n"));
|
||||
saveEEPROM();
|
||||
printi(F("Current valuses saved.\n"));
|
||||
}
|
||||
@@ -900,11 +1037,11 @@ void serialData(void){
|
||||
stepper_pan.runSpeed();
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_TILT_RUN_SPEED:{
|
||||
stepper_tilt.setSpeed(tiltDegreesToSteps(serialCommandValueFloat));
|
||||
stepper_tilt.runSpeed();
|
||||
}
|
||||
break;
|
||||
// case INSTRUCTION_TILT_RUN_SPEED:{
|
||||
// stepper_tilt.setSpeed(tiltDegreesToSteps(serialCommandValueFloat));
|
||||
// stepper_tilt.runSpeed();
|
||||
// }
|
||||
// break;
|
||||
case INSTRUCTION_DEBUG_STATUS:{
|
||||
debugReport();
|
||||
}
|
||||
@@ -930,6 +1067,7 @@ void serialData(void){
|
||||
case INSTRUCTION_SET_HOME:{
|
||||
stepper_pan.setCurrentPosition(0);
|
||||
stepper_tilt.setCurrentPosition(0);
|
||||
stepper_slider.setCurrentPosition(0);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_ENABLE:{
|
||||
@@ -944,34 +1082,42 @@ void serialData(void){
|
||||
printi("Setting acceleration to ", serialCommandValueFloat, 1, " steps/s/s.\n");
|
||||
pan_acceleration = serialCommandValueFloat;
|
||||
tilt_acceleration = serialCommandValueFloat;
|
||||
slider_acceleration = serialCommandValueFloat;
|
||||
stepper_pan.setAcceleration(pan_acceleration);
|
||||
stepper_tilt.setAcceleration(tilt_acceleration);
|
||||
stepper_slider.setAcceleration(slider_acceleration);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_SET_PAN_SPEED:{
|
||||
printi("Setting maximum pan speed to ", serialCommandValueFloat, 1, " steps/s.\n");
|
||||
printi("Setting maximum pan speed to ", serialCommandValueFloat, 1, " º/s.\n");
|
||||
pan_max_speed = panDegreesToSteps(serialCommandValueFloat);
|
||||
stepper_pan.setMaxSpeed(pan_max_speed);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_SET_TILT_SPEED:{
|
||||
printi("Setting maximum tilt speed to ", serialCommandValueFloat, 1, " steps/s.\n");
|
||||
printi("Setting maximum tilt speed to ", serialCommandValueFloat, 1, " º/s.\n");
|
||||
tilt_max_speed = tiltDegreesToSteps(serialCommandValueFloat);
|
||||
stepper_tilt.setMaxSpeed(tilt_max_speed);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_MULTISTEPPER_TEST_2:{
|
||||
target_position[0] = panDegreesToSteps(45);
|
||||
target_position[1] = tiltDegreesToSteps(180);
|
||||
multi_stepper.moveTo(target_position);
|
||||
}
|
||||
break;
|
||||
case INSTRUCTION_MULTISTEPPER_TEST_3:{
|
||||
target_position[0] = panDegreesToSteps(-45);
|
||||
target_position[1] = tiltDegreesToSteps(-180);
|
||||
multi_stepper.moveTo(target_position);
|
||||
case INSTRUCTION_SET_SLIDER_SPEED:{
|
||||
printi("Setting maximum slider speed to ", serialCommandValueFloat, 1, " mm/s.\n");
|
||||
slider_max_speed = sliderMillimetresToSteps(serialCommandValueFloat);
|
||||
stepper_slider.setMaxSpeed(slider_max_speed);
|
||||
}
|
||||
break;
|
||||
// case INSTRUCTION_MULTISTEPPER_TEST_2:{
|
||||
// target_position[0] = panDegreesToSteps(45);
|
||||
// target_position[1] = tiltDegreesToSteps(180);
|
||||
// multi_stepper.moveTo(target_position);
|
||||
// }
|
||||
// break;
|
||||
// case INSTRUCTION_MULTISTEPPER_TEST_3:{
|
||||
// target_position[0] = panDegreesToSteps(-45);
|
||||
// target_position[1] = tiltDegreesToSteps(-180);
|
||||
// multi_stepper.moveTo(target_position);
|
||||
// }
|
||||
// break;
|
||||
// case COMMAND_CARTESIAN:{//Moves relitive to the current position
|
||||
// while(Serial.available() != 6){//Wait for six bytes to be available. Breaks after ~200ms if bytes are not received.
|
||||
// delayMicroseconds(200);
|
||||
|
||||
Reference in New Issue
Block a user