Foreign-Mirrors/Pan-Tilt-Mount
1
0
Fork 0
mirror of https://github.com/isaac879/Pan-Tilt-Mount.git synced 2026-08-16 13:03:15 +02:00
Code Issues Packages Projects Releases Wiki Activity

Add files via upload

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
pan_tilt_mount_nano_code_pcb/panTiltMount.cpp
+11 -8
View File
@@ -814,9 +814,10 @@ bool calculateTargetCoordinate(void){
intercept.x = (c2 - c1) / (m1 - m2); intercept.x = (c2 - c1) / (m1 - m2);
intercept.y = m1 * intercept.x + c1; 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) 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 false;
} }
return true; return true;
@@ -830,7 +831,6 @@ void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
return; //check there are posions to move to return; //check there are posions to move to
} }
float increment = 1;
float sliderStartPos = sliderStepsToMillimetres(keyframe_array[0].sliderStepCount); //slider start position float sliderStartPos = sliderStepsToMillimetres(keyframe_array[0].sliderStepCount); //slider start position
float sliderEndPos = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount); float sliderEndPos = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount);
float panAngle = 0; float panAngle = 0;
@@ -838,9 +838,10 @@ void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
float x = targetPoint.x - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount); float x = targetPoint.x - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount);
float ySqared = pow(targetPoint.y, 2); float ySqared = pow(targetPoint.y, 2);
float sliderTravel = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount) - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount); float sliderTravel = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount) - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount);
unsigned int numberOfIncrements = sliderTravel / increment; int numberOfIncrements = abs(sliderTravel);
float increment = sliderTravel / numberOfIncrements;//size of interpolation increments in mm
for(int j = 0; j < repeat; j++){
for(int j = 0; (j < repeat || (repeat == 0 && j == 0)); j++){
for(int i = 0; i <= numberOfIncrements; i++){ for(int i = 0; i <= numberOfIncrements; i++){
x = targetPoint.x - (sliderStartPos + increment * i); x = targetPoint.x - (sliderStartPos + increment * i);
panAngle = radsToDeg(atan2(targetPoint.y, x)); panAngle = radsToDeg(atan2(targetPoint.y, x));
@@ -861,8 +862,10 @@ void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
setTargetPositions(panAngle, tiltAngle, sliderStartPos + increment * i); setTargetPositions(panAngle, tiltAngle, sliderStartPos + increment * i);
multi_stepper.runSpeedToPosition();//blocking move to the next position multi_stepper.runSpeedToPosition();//blocking move to the next position
} }
setTargetPositions(panAngle, tiltAngle, sliderStartPos); if(repeat > 0){
multi_stepper.runSpeedToPosition();//blocking move to the next position setTargetPositions(panAngle, tiltAngle, sliderStartPos);
multi_stepper.runSpeedToPosition();//blocking move to the next position
}
} }
} }
pan_tilt_mount_nano_code_pcb/panTiltMount.h
+1 -1
View File
@@ -98,7 +98,7 @@
#define NUM_LEDS 1 #define NUM_LEDS 1
#define BRIGHTNESS 255 #define BRIGHTNESS 255
#define VERSION_NUMBER "3.2.0" #define VERSION_NUMBER "3.2.5"
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/ /*------------------------------------------------------------------------------------------------------------------------------------------------------*/
pan_tilt_mount_nano_code_pcb/pan_tilt_mount_nano_code_pcb.ino
+1 -8
View File
@@ -18,19 +18,12 @@
* *
* Code written by isaac879 * Code written by isaac879
* *
* Last modified: 04/05/2020 * Last modified: 05/06/2020
* *
*--------------------------------------------------------------------------------------------------------------------------------------------------------*/ *--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//TODOs: //TODOs:
//EEPROM values will need to be set after uploading the code and then a reset is required. //EEPROM values will need to be set after uploading the code and then a reset is required.
/*----------Future development----------*/
//program array in deg
//Make an AT+ command set
//report commands
//Refactor code
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/ /*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
#include "panTiltMount.h" #include "panTiltMount.h"