Foreign-Mirrors/Pan-Tilt-Mount
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isaac879
2020-06-05 03:02:35 +01:00
committed by GitHub
parent 9971372be4
commit a04e2a950b
3 changed files with 13 additions and 17 deletions
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pan_tilt_mount_nano_code_pcb/panTiltMount.cpp
+11 -8
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@@ -814,9 +814,10 @@ bool calculateTargetCoordinate(void){
intercept.x = (c2 - c1) / (m1 - m2);
intercept.y = m1 * intercept.x + c1;
}
intercept.z = tan(degToRads(tiltStepsToDegrees(keyframe_array[0].tiltStepCount))) * sqrt(pow(intercept.x, 2) + pow(intercept.y, 2));
intercept.z = tan(degToRads(tiltStepsToDegrees(keyframe_array[0].tiltStepCount))) * sqrt(pow(intercept.x - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount), 2) + pow(intercept.y, 2));
if(((panStepsToDegrees(keyframe_array[0].panStepCount) > 0 && panStepsToDegrees(keyframe_array[1].panStepCount) > 0) && intercept.y < 0)
|| ((panStepsToDegrees(keyframe_array[0].panStepCount) < 0 && panStepsToDegrees(keyframe_array[1].panStepCount) < 0) && intercept.y > 0)){
|| ((panStepsToDegrees(keyframe_array[0].panStepCount) < 0 && panStepsToDegrees(keyframe_array[1].panStepCount) < 0) && intercept.y > 0) || intercept.y == 0){
printi(F("Invalid intercept.\n"));
return false;
}
return true;
@@ -830,7 +831,6 @@ void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
return; //check there are posions to move to
}
float increment = 1;
float sliderStartPos = sliderStepsToMillimetres(keyframe_array[0].sliderStepCount); //slider start position
float sliderEndPos = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount);
float panAngle = 0;
@@ -838,9 +838,10 @@ void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
float x = targetPoint.x - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount);
float ySqared = pow(targetPoint.y, 2);
float sliderTravel = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount) - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount);
unsigned int numberOfIncrements = sliderTravel / increment;
for(int j = 0; j < repeat; j++){
int numberOfIncrements = abs(sliderTravel);
float increment = sliderTravel / numberOfIncrements;//size of interpolation increments in mm
for(int j = 0; (j < repeat || (repeat == 0 && j == 0)); j++){
for(int i = 0; i <= numberOfIncrements; i++){
x = targetPoint.x - (sliderStartPos + increment * i);
panAngle = radsToDeg(atan2(targetPoint.y, x));
@@ -861,8 +862,10 @@ void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
setTargetPositions(panAngle, tiltAngle, sliderStartPos + increment * i);
multi_stepper.runSpeedToPosition();//blocking move to the next position
}
setTargetPositions(panAngle, tiltAngle, sliderStartPos);
multi_stepper.runSpeedToPosition();//blocking move to the next position
if(repeat > 0){
setTargetPositions(panAngle, tiltAngle, sliderStartPos);
multi_stepper.runSpeedToPosition();//blocking move to the next position
}
}
}