Foreign-Mirrors/Pan-Tilt-Mount
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isaac879
2020-03-27 03:28:30 +00:00
committed by GitHub
parent 37291e6a21
commit ea4c580296
3 changed files with 381 additions and 93 deletions
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pan_tilt_mount_nano_code/panTiltMount.cpp
+326 -82
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@@ -3,12 +3,16 @@
#include <AccelStepper.h>
#include <MultiStepper.h>
#include <EEPROM.h> //To be able to save values when powered off
#include <FastLED.h>
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//Global scope
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);
MultiStepper multi_stepper;
@@ -19,12 +23,14 @@ 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
int step_mode = 1;
bool enable_state = true;
long limit_pan_min = -2147483648;
long limit_pan_max = 2147483647;
long limit_tilt_min = -2147483648;
long limit_tilt_max = 2147483647;
float limit_pan_min = 0;
float limit_pan_max = 0;
float limit_tilt_min = 0;
float limit_tilt_max = 0;
byte enable_limits = 0;
float pan_acceleration = 5000;
float tilt_acceleration = 5000;
float hall_pan_offset_degrees = 0;
@@ -35,6 +41,8 @@ byte enable_homing = 0;
float pan_max_speed = 2000;
float tilt_max_speed = 2000;
long target_position[2];
float degrees_per_picture = 0.5;
unsigned long delay_ms_between_pictures = 1000;
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
@@ -50,31 +58,62 @@ void initPanTilt(void){
pinMode(PIN_STEP_SLIDER, OUTPUT);
pinMode(PIN_PAN_HALL, INPUT_PULLUP);
pinMode(PIN_TILT_HALL, INPUT_PULLUP);
pinMode(PIN_SHUTTER_TRIGGER, OUTPUT);
digitalWrite(PIN_SHUTTER_TRIGGER, LOW);
FastLED.addLeds<LED_TYPE, PIN_LED_DATA, COLOR_ORDER>(leds, NUM_LEDS);
FastLED.setBrightness(BRIGHTNESS);
LEDS.showColor(CHSV(160 , 255, 255)); //Set led to blue
setEEPROMVariables();
stepper_pan.setMinPulseWidth(20);
stepper_tilt.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);
invertPanDirection(invert_pan);
invertTiltDirection(invert_tilt);
multi_stepper.addStepper(stepper_pan);
multi_stepper.addStepper(stepper_tilt);
//multi_stepper.addStepper(stepper_slider);
enableSteppers(true);
LEDS.showColor(CHSV(96 , 255, 255));
printi(F("Setup complete.\n"));
if(enable_homing == 1){
printi(F("Beginning homing...\n"));
if(findHome()){
printi(F("Homing complete.\n"));
LEDS.showColor(CHSV(0 , 0, 255)); //White
delay(200);
LEDS.showColor(CHSV(0 , 0, 0)); //off
delay(200);
LEDS.showColor(CHSV(0 , 0, 255)); //White
delay(200);
LEDS.showColor(CHSV(0 , 0, 0)); //off
delay(200);
LEDS.showColor(CHSV(0 , 0, 255)); //White
delay(200);
}
else{
stepper_pan.setCurrentPosition(0);
stepper_tilt.setCurrentPosition(0);
printi(F("Error finding home position... Current position has been set as home.\n"));
LEDS.showColor(CHSV(240 , 255, 255)); //pink
delay(200);
LEDS.showColor(CHSV(0 , 0, 0)); //off
delay(200);
LEDS.showColor(CHSV(240 , 255, 255)); //pink
delay(200);
LEDS.showColor(CHSV(0 , 0, 0)); //off
delay(200);
LEDS.showColor(CHSV(240 , 255, 255)); //pink
delay(200);
}
}
}
ledBatteryLevel(getBatteryPercentage());
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
@@ -169,26 +208,15 @@ float tiltDegreesToSteps(float angle){
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void statusReport(void){
printi(F("----------Status Report----------\n"));
printi(F("Step Mode: "), step_mode);
printi(F("pan_steps_per_degree: "), pan_steps_per_degree, 3, F("\n"));
printi(F("tilt_steps_per_degree: "), tilt_steps_per_degree, 3, F("\n"));
printi(F("Battery percentage: "), getBatteryPercentage(), 3, F("%\n"));
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void printProgramElements(void){
printi(F("-----Program Elements-----\n"));
for(int row = 0; row < moves_array_elements; row++){
printi(F(""), row, F(" |"));
printi(F(" Pan: "), program_elements[row].panStepCount, F(" steps\t"));
printi(F("Tilt: "), program_elements[row].tiltStepCount, F(" steps\t"));
printi(F("Pan Speed: "), program_elements[row].panSpeed, 3, F(" steps/sec\t"));
printi(F("Tilt Speed: "), program_elements[row].tiltSpeed, 3, F(" steps/sec\t"));
printi(F("Delay: "), program_elements[row].msDelay, F(" |\n"));
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("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("Delay: "), program_elements[row].msDelay, F("ms |\n"));
}
printi(F("\n"));
}
@@ -203,23 +231,36 @@ void debugReport(void){
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 angle: "), panStepsToDegrees(stepper_pan.currentPosition()), 3, F("degrees\n"));
printi(F("Tilt angle: "), tiltStepsToDegrees(stepper_tilt.currentPosition()), 3, F("degrees\n"));
printi(F("Pan steps per degree: "), pan_steps_per_degree);
printi(F("Tilt steps per degree: "), tilt_steps_per_degree);
printi(F("Pan current steps/second: "), stepper_pan.speed());
printi(F("Tilt current steps/second: "), stepper_tilt.speed());
printi(F("Pan maximum steps/second: "), stepper_pan.maxSpeed());
printi(F("Tilt maximum steps/second: "), stepper_tilt.maxSpeed());
printi(F("Pan acceleration: "), pan_acceleration);
printi(F("Tilt acceleration: "), tilt_acceleration);
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("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("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("Pan min limit: "), limit_pan_min, 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("Enable limits: "), enable_limits);
printi(F("Pan invert direction: "), invert_pan);
printi(F("Tilt invert direction: "), invert_tilt);
printi(F("Pan Hall offset: "), hall_pan_offset_degrees, 3, F("degrees\n"));
printi(F("Tilt Hall offset: "), hall_tilt_offset_degrees, 3, F("degrees\n"));
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"));
printi(F("Battery percentage: "), getBatteryPercentage(), 3, F("%\n"));
printi(F("Homing on start-up: "), enable_homing);
printi(F("Homing on start-up: "), enable_homing);
printi(F("Angle between pictures: "), degrees_per_picture, 3, F("º\n"));
printi(F("Timelapse delay between pictures: "), delay_ms_between_pictures, F("ms\n"));
printi(F("Version: "));
printi(F(VERSION_NUMBER));
printi(F("\n"));
@@ -231,6 +272,9 @@ void debugReport(void){
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
int setTargetPositions(float panDeg, float tiltDeg){//TODO: limits
if(enable_limits == 1 && !((panDeg >= limit_pan_min && panDeg <= limit_pan_max) && (tiltDeg >= limit_tilt_min && tiltDeg <= limit_tilt_max))){
return -1;
}
target_position[0] = panDegreesToSteps(panDeg);
target_position[1] = tiltDegreesToSteps(tiltDeg);
multi_stepper.moveTo(target_position);
@@ -238,11 +282,28 @@ int setTargetPositions(float panDeg, float tiltDeg){//TODO: limits
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
int setTargetPositionsSteps(long panSteps, long tiltSteps){//TODO: limits
target_position[0] = panSteps;
target_position[1] = tiltSteps;
multi_stepper.moveTo(target_position);
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
bool findHome(void){
if(enable_limits == 1){
printi(F("Homing is not available when limits are enabled\n"));
return false;
}
bool panHomeFlag = false;
bool tiltHomeFlag = false;
int panHomingDir = -1;
int tiltHomingDir = -1;
int tiltHomingDir = -1;
setTargetPositions(0, 0);
stepper_pan.setCurrentPosition(0);//set step count to 0
stepper_tilt.setCurrentPosition(0);//set step count to 0
while(digitalRead(PIN_PAN_HALL) == 0 || digitalRead(PIN_TILT_HALL) == 0){//If already on a Hall sensor move off
target_position[0] = target_position[0] + panDegreesToSteps(!digitalRead(PIN_PAN_HALL));//increment by 1 degree
@@ -326,30 +387,30 @@ float getBatteryPercentage(void){ //TODO: Calibrate the values for your battery
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//float panDegreesToSteps(float angularVelocity){
// return angularVelocity * pan_steps_per_degree;
//}
//
///*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//
//float tiltDegreesToSteps(float angularVelocity){
// return angularVelocity * tilt_steps_per_degree;
//}
//
///*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
float panStepsToDegrees(long steps){
return steps / pan_steps_per_degree;
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
float panStepsToDegrees(float steps){
return steps / pan_steps_per_degree;
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
float tiltStepsToDegrees(long steps){
return steps / tilt_steps_per_degree;
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
float tiltStepsToDegrees(float steps){
return steps / tilt_steps_per_degree;
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
int addPosition(void){
if(moves_array_elements >= 0 && moves_array_elements < ARRAY_LENGTH){
program_elements[moves_array_elements].panStepCount = stepper_pan.currentPosition();
@@ -361,6 +422,9 @@ int addPosition(void){
printi(F("Position added at index: "), current_moves_array_index);
return 0;
}
else{
printi(F("Maximum number of position reached\n"));
}
return -1;
}
@@ -402,6 +466,7 @@ void executeMoves(int repeat){
for(int row = 0; row < moves_array_elements; row++){
moveToIndex(row);
}
ledBatteryLevel(getBatteryPercentage());
if(getBatteryVoltage() < 9.5){//9.5V is used as the cut off to allow for inaccuracies and be on the safe side.
delay(200);
if(getBatteryVoltage() < 9.5){//Check voltage is still low and the first wasn't a miscellaneous reading
@@ -444,6 +509,36 @@ void addDelay(unsigned int ms){
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void scaleMovesArrayPanMaxSpeed(float newMax){
float currentMax = 0;
for(int row = 0; row < moves_array_elements; row++){ //Find the maximum pan speed
if(program_elements[row].panSpeed > currentMax){
currentMax = program_elements[row].panSpeed;
}
}
float speedRatio = newMax / currentMax;
for(int row = 0; row < moves_array_elements; row++){ //Scale all the pan speeds
program_elements[row].panSpeed = program_elements[row].panSpeed * speedRatio;
}
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void scaleMovesArrayTiltMaxSpeed(float newMax){
float currentMax = 0;
for(int row = 0; row < moves_array_elements; row++){ //Find the maximum pan speed
if(program_elements[row].tiltSpeed > currentMax){
currentMax = program_elements[row].tiltSpeed;
}
}
float speedRatio = newMax / currentMax;
for(int row = 0; row < moves_array_elements; row++){ //Scale all the pan speeds
program_elements[row].tiltSpeed = program_elements[row].tiltSpeed * speedRatio;
}
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void invertPanDirection(bool invert){
printi(F("Setting pan inversion to: "), invert);
invert_pan = invert;
@@ -463,10 +558,10 @@ void invertTiltDirection(bool invert){
void saveEEPROM(void){
EEPROM.put(EEPROM_ADDRESS_ENABLE_HOMING, enable_homing);
EEPROM.put(EEPROM_ADDRESS_MODE, step_mode);
EEPROM.put(EEPROM_ADDRESS_LIMIT_PAN_MIN, limit_pan_min);
EEPROM.put(EEPROM_ADDRESS_LIMIT_PAN_MAX, limit_pan_max);
EEPROM.put(EEPROM_ADDRESS_LIMIT_TILT_MIN, limit_tilt_min);
EEPROM.put(EEPROM_ADDRESS_LIMIT_TILT_MAX, limit_tilt_max);
// EEPROM.put(EEPROM_ADDRESS_LIMIT_PAN_MIN, limit_pan_min);
// EEPROM.put(EEPROM_ADDRESS_LIMIT_PAN_MAX, limit_pan_max);
// EEPROM.put(EEPROM_ADDRESS_LIMIT_TILT_MIN, limit_tilt_min);
// 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_PAN_ACCELERATION, pan_acceleration);
@@ -474,7 +569,14 @@ void saveEEPROM(void){
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_TILT, invert_tilt);
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);
EEPROM.put(EEPROM_ADDRESS_PAN_MIN_LIMIT, limit_pan_min);
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);
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
@@ -491,14 +593,14 @@ void printEEPROM(void){
else if(itemp == 1){
printi(F("Step mode: Sixteenth step\n"));
}
EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MIN, ltemp);
printi(F("Pan min limit: "), ltemp);
EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MAX, ltemp);
printi(F("Pan max limit: "), ltemp);
EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MIN, ltemp);
printi(F("Tilt min limit: "), ltemp);
EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MAX, ltemp);
printi(F("Tilt max limit: "), ltemp);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MIN, ltemp);
// printi(F("Pan min limit: "), ltemp);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MAX, ltemp);
// printi(F("Pan max limit: "), ltemp);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MIN, ltemp);
// printi(F("Tilt min limit: "), ltemp);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MAX, ltemp);
// printi(F("Tilt max limit: "), ltemp);
EEPROM.get(EEPROM_ADDRESS_PAN_MAX_SPEED, ftemp);
printi(F("Pan max speed: "), ftemp);
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_SPEED, ftemp);
@@ -511,9 +613,22 @@ void printEEPROM(void){
printi(F("Pan Hall offset: "), ftemp);
EEPROM.get(EEPROM_ADDRESS_HALL_TILT_OFFSET, ftemp);
printi(F("Tilt Hall offset: "), ftemp);
printi(F("Pan invert: "), (byte)EEPROM.read(EEPROM_ADDRESS_INVERT_PAN));
printi(F("Tilt invert: "), (byte)EEPROM.read(EEPROM_ADDRESS_INVERT_TILT));
printi(F("Homing on start-up: "), (byte)EEPROM.read(EEPROM_ADDRESS_ENABLE_HOMING));
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("Pan invert: "), EEPROM.read(EEPROM_ADDRESS_INVERT_PAN));
printi(F("Tilt invert: "), EEPROM.read(EEPROM_ADDRESS_INVERT_TILT));
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);
printi(F("Pan min limit: "), ftemp);
EEPROM.get(EEPROM_ADDRESS_PAN_MAX_LIMIT, ftemp);
printi(F("Pan max limit: "), ftemp);
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("--------------------\n"));
}
@@ -522,16 +637,23 @@ void printEEPROM(void){
void setEEPROMVariables(void){
printi(F("Setting values from EEPROM...\n"));
EEPROM.get(EEPROM_ADDRESS_MODE, step_mode);
EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MIN, limit_pan_min);
EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MAX, limit_pan_max);
EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MIN, limit_tilt_min);
EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MAX, limit_tilt_max);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MIN, limit_pan_min);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_PAN_MAX, limit_pan_max);
// EEPROM.get(EEPROM_ADDRESS_LIMIT_TILT_MIN, limit_tilt_min);
// 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_PAN_ACCELERATION, pan_acceleration);
EEPROM.get(EEPROM_ADDRESS_TILT_ACCELERATION, tilt_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);
EEPROM.get(EEPROM_ADDRESS_TIMELAPSE_DELAY, delay_ms_between_pictures);
EEPROM.get(EEPROM_ADDRESS_ENABLE_LIMITS, enable_limits);
EEPROM.get(EEPROM_ADDRESS_PAN_MIN_LIMIT, limit_pan_min);
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);
invert_pan = EEPROM.read(EEPROM_ADDRESS_INVERT_PAN);
invert_tilt = EEPROM.read(EEPROM_ADDRESS_INVERT_TILT);
enable_homing = EEPROM.read(EEPROM_ADDRESS_ENABLE_HOMING);
@@ -553,9 +675,89 @@ void toggleAutoHoming(void){
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void toggleEnableLimits(void){
if(enable_limits == 1){
enable_limits = 0;
printi(F("Limits disabled.\n"));
}
else{
enable_limits = 1;
printi(F("Limits enabled.\n"));
}
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void triggerCameraShutter(void){
digitalWrite(PIN_SHUTTER_TRIGGER, HIGH);
delay(SHUTTER_DELAY);
digitalWrite(PIN_SHUTTER_TRIGGER, LOW);
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void ledBatteryLevel(float batteryPercentage){
byte hue = mapNumber(batteryPercentage, 0, 100, 0, 96);
LEDS.showColor(CHSV(hue , 255, 255));
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void timeLapseInterpolation(float panStartAngle, float tiltStartAngle, float panStopAngle, float tiltStopAngle, float degPerPic, unsigned long msDelay){
if(msDelay > SHUTTER_DELAY){
msDelay = msDelay - SHUTTER_DELAY;
}
float panAngle = panStopAngle - panStartAngle;
float tiltAngle = tiltStopAngle - tiltStartAngle;
float largestAngle = (abs(panAngle) > abs(tiltAngle)) ? panAngle : tiltAngle;
unsigned int numberOfIncrements = abs(largestAngle) / degPerPic;
if(numberOfIncrements == 0) return;
float panInc = panAngle / numberOfIncrements;
float tiltInc = tiltAngle / numberOfIncrements;
for(int i = 0; i <= numberOfIncrements; i++){
setTargetPositions(panStartAngle + (panInc * i), tiltStartAngle + (tiltInc * i));
multi_stepper.runSpeedToPosition();//blocking move to the next position
delay(msDelay);
triggerCameraShutter();//capture the picture
}
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void timeLapse(float degPerPic, unsigned long msDelay, int repeat){
if(moves_array_elements < 2){
printi(F("Not enough elements recorded\n"));
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);
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);
}
}
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//float sliderStepsToMillimetres(long steps){
// return steps / SLIDER_MILLIMETRE_RATIO;
//}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//long sliderMilimeterToSteps(float mm){
// return mm * SLIDER_MILLIMETRE_RATIO;
//}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void serialData(void){
char instruction = Serial.read();
delay(2); //wait to make sure all data in the serial message has arived
delay(2); //wait to make sure all data in the serial message has arived
ledBatteryLevel(getBatteryPercentage());
memset(&stringText[0], 0, sizeof(stringText)); //clear the array
while(Serial.available()){//set elemetns of stringText to the serial values sent
char digit = Serial.read(); //read in a char
@@ -564,8 +766,60 @@ void serialData(void){
serialFlush();//Clear any excess data in the serial buffer
int serialCommandValueInt = atoi(stringText); //converts stringText to an int
float serialCommandValueFloat = atof(stringText); //converts stringText to a float
//if(command == 'G' && stringText[0] == 0) return;//For the bluetooth issue of it sending data when it connects...
if(instruction == 'G' && stringText[0] == 0) return;//For the bluetooth issue of it sending data when it connects...
switch(instruction){
case INSTRUCTION_DELAY_BETWEEN_PICTURES:{
delay_ms_between_pictures = serialCommandValueFloat;
printi(F("Delay between pictures: "), delay_ms_between_pictures, F("ms\n"));
}
break;
case INSTRUCTION_ANGLE_BETWEEN_PICTURES:{
degrees_per_picture = serialCommandValueFloat;
printi(F("Degrees per picture: "), degrees_per_picture, 3, F("º\n"));
}
break;
case INSTRUCTION_ENABLE_LIMITS:{
toggleEnableLimits();
}
break;
case INSTRUCTION_PAN_MIN_LIMIT:{
limit_pan_min = serialCommandValueFloat;
printi(F("Pan min limit set to: "), limit_pan_min, 3, F("º\n"));
}
break;
case INSTRUCTION_PAN_MAX_LIMIT:{
limit_pan_max = serialCommandValueFloat;
printi(F("Pan max limit set to: "), limit_pan_max, 3, F("º\n"));
}
break;
case INSTRUCTION_TILT_MIN_LIMIT:{
limit_tilt_min = serialCommandValueFloat;
printi(F("Tilt min limit set to: "), limit_tilt_min, 3, F("º\n"));
}
break;
case INSTRUCTION_TILT_MAX_LIMIT:{
limit_tilt_max = serialCommandValueFloat;
printi(F("Tilt max limit set to: "), limit_tilt_max, 3, F("º\n"));
}
break;
case INSTRUCTION_TIMELAPSE:{
printi(F("Starting timelapse...\n"));
timeLapse(degrees_per_picture, delay_ms_between_pictures, 1);
printi(F("Timelapse finished\n"));
}
break;
case INSTRUCTION_SCALE_PAN_SPEED:{
scaleMovesArrayPanMaxSpeed(panDegreesToSteps(serialCommandValueFloat));
}
break;
case INSTRUCTION_SCALE_TILT_SPEED:{
scaleMovesArrayTiltMaxSpeed(tiltDegreesToSteps(serialCommandValueFloat));
}
break;
case INSTRUCTION_TRIGGER_SHUTTER:{
triggerCameraShutter();
}
break;
case INSTRUCTION_AUTO_HOME:{
printi(F("Beginning homing...\n"));
if(findHome()){
@@ -651,10 +905,6 @@ void serialData(void){
stepper_tilt.runSpeed();
}
break;
case INSTRUCTION_STATUS:{
statusReport();
}
break;
case INSTRUCTION_DEBUG_STATUS:{
debugReport();
}
@@ -677,12 +927,6 @@ void serialData(void){
tiltJogDegrees(serialCommandValueFloat);
}
break;
// case INSTRUCTION_HOME:{
// target_position[0] = 0;
// target_position[1] = 0;
// multi_stepper.moveTo(target_position); //Sets new target positions
// }
// break;
case INSTRUCTION_SET_HOME:{
stepper_pan.setCurrentPosition(0);
stepper_tilt.setCurrentPosition(0);
@@ -706,13 +950,13 @@ void serialData(void){
break;
case INSTRUCTION_SET_PAN_SPEED:{
printi("Setting maximum pan speed to ", serialCommandValueFloat, 1, " steps/s.\n");
pan_max_speed = serialCommandValueFloat;
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");
tilt_max_speed = serialCommandValueFloat;
tilt_max_speed = tiltDegreesToSteps(serialCommandValueFloat);
stepper_tilt.setMaxSpeed(tilt_max_speed);
}
break;
pan_tilt_mount_nano_code/panTiltMount.h
+43 -8
View File
@@ -5,14 +5,16 @@
#define BAUD_RATE 57600
#define PIN_MS 11
#define PIN_ENABLE 12
#define PIN_LED_DATA 2
#define PIN_SHUTTER_TRIGGER 4
#define PIN_DIRECTION_PAN 5
#define PIN_STEP_PAN 6
#define PIN_DIRECTION_TILT 7
#define PIN_STEP_TILT 8
#define PIN_DIRECTION_SLIDER 9
#define PIN_STEP_SLIDER 10
#define PIN_MS 11
#define PIN_ENABLE 12
#define PIN_PAN_HALL A3
#define PIN_TILT_HALL A4
#define PIN_INPUT_VOLTAGE A5
@@ -25,16 +27,19 @@
#define PAN_GEAR_RATIO 8.4705882352941176470588235294118 //144/17 teeth
#define TILT_GEAR_RATIO 3.047619047619047619047619047619 //64/21 teeth
//#define SLIDER_MILLIMETRE_RATIO //mm/steps
// 200 *
#define MAX_STRING_LENGTH 10
#define ARRAY_LENGTH 20
#define SHUTTER_DELAY 300
#define INSTRUCTION_STEP_MODE 'm'
#define INSTRUCTION_PAN_STEPS 'P'
#define INSTRUCTION_TILT_STEPS 'T'
#define INSTRUCTION_PAN_DEGREES 'p'
#define INSTRUCTION_TILT_DEGREES 't'
//#define INSTRUCTION_HOME 'h'
#define INSTRUCTION_SET_HOME 'h'
#define INSTRUCTION_ENABLE 'e'
#define INSTRUCTION_SET_ACCELLERATION 'a'
@@ -45,12 +50,10 @@
#define INSTRUCTION_SET_PAN_HALL_OFFSET 'o'
#define INSTRUCTION_SET_TILT_HALL_OFFSET 'O'
#define INSTRUCTION_TOGGLE_HOMING 'H'
#define INSTRUCTION_TRIGGER_SHUTTER 'c'
#define INSTRUCTION_AUTO_HOME 'A'
#define INSTRUCTION_MULTISTEPPER_TEST_2 '2'
#define INSTRUCTION_MULTISTEPPER_TEST_3 '3'
#define INSTRUCTION_DEMO_1 '4'
#define INSTRUCTION_STATUS 'r'
#define INSTRUCTION_DEBUG_STATUS 'R'
#define INSTRUCTION_PAN_RUN_SPEED 'k'
#define INSTRUCTION_TILT_RUN_SPEED 'l'
@@ -63,8 +66,18 @@
#define INSTRUCTION_EDIT_ARRAY 'E'
#define INSTRUCTION_ADD_DELAY 'D'
#define INSTRUCTION_CLEAR_ARRAY 'C'
#define INSTRUCTION_SCALE_PAN_SPEED 'M'
#define INSTRUCTION_SCALE_TILT_SPEED 'N'
#define INSTRUCTION_SAVE_TO_EEPROM 'U'
//#define INSTRUCTION_SET_LED_HUE 'b'
#define INSTRUCTION_TIMELAPSE 'L'
#define INSTRUCTION_ENABLE_LIMITS 'y'
#define INSTRUCTION_PAN_MIN_LIMIT 'f'
#define INSTRUCTION_PAN_MAX_LIMIT 'F'
#define INSTRUCTION_TILT_MIN_LIMIT 'g'
#define INSTRUCTION_TILT_MAX_LIMIT 'G'
#define INSTRUCTION_ANGLE_BETWEEN_PICTURES 'b'
#define INSTRUCTION_DELAY_BETWEEN_PICTURES 'B'
#define EEPROM_ADDRESS_ENABLE_HOMING 0
#define EEPROM_ADDRESS_LIMIT_PAN_MIN 1
@@ -80,8 +93,20 @@
#define EEPROM_ADDRESS_INVERT_PAN 41
#define EEPROM_ADDRESS_INVERT_TILT 42
#define EEPROM_ADDRESS_MODE 43
#define EEPROM_ADDRESS_DEGREES_PER_PICTURE 45
#define EEPROM_ADDRESS_TIMELAPSE_DELAY 49
#define EEPROM_ADDRESS_ENABLE_LIMITS 53
#define EEPROM_ADDRESS_PAN_MIN_LIMIT 54
#define EEPROM_ADDRESS_PAN_MAX_LIMIT 58
#define EEPROM_ADDRESS_TILT_MIN_LIMIT 62
#define EEPROM_ADDRESS_TILT_MAX_LIMIT 66
#define VERSION_NUMBER "1.3.1"
#define LED_TYPE WS2812B
#define COLOR_ORDER GRB
#define NUM_LEDS 1
#define BRIGHTNESS 255
#define VERSION_NUMBER "1.5.1"
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
@@ -114,7 +139,9 @@ float boundFloat(float, float, float);
float panDegreesToSteps(float);
float tiltDegreesToSteps(float);
float panStepsToDegrees(long);
float panStepsToDegrees(float);
float tiltStepsToDegrees(long);
float tiltStepsToDegrees(float);
int addPosition(void);
void clearArray(void);
void executeMoves(int);
@@ -131,6 +158,14 @@ void invertPanDirection(bool);
void invertTiltDirection(bool);
int setTargetPositions(float, float);
void toggleAutoHoming(void);
void triggerCameraShutter(void);
void scaleMovesArrayPanMaxSpeed(float newMax);
void scaleMovesArrayTiltMaxSpeed(float newMax);
void ledBatteryLevel(float batteryPercentage);
int setTargetPositionsSteps(long panSteps, long tiltSteps);
void timeLapseInterpolation(float, float, float, float, float, unsigned long);
void timeLapse(float, unsigned long, int);
void toggleEnableLimits(void);
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
pan_tilt_mount_nano_code/pan_tilt_mount_nano_code.ino
+12 -3
View File
@@ -17,14 +17,23 @@
*
* Code written by isaac879
*
* Last modified: 23/03/2020
* Last modified: 27/03/2020
*
*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
//TODOs:
//software limits
//program array in deg
//point to point in x time
//status reports
//report commands
//slider stuff
//steps per mm
//move x mm
//limits
//all array operations
//all printi
//all eeprom
//Make an AT+ command set
//Rename arrays stuff to Keyframes
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/