mirror of
https://github.com/isaac879/Pan-Tilt-Mount.git
synced 2026-08-16 13:03:15 +02:00
209 lines
6.9 KiB
C
209 lines
6.9 KiB
C
#ifndef PANTILTMOUNT_H
|
|
#define PANTILTMOUNT_H
|
|
|
|
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
#define BAUD_RATE 57600
|
|
|
|
//#define PIN_LED_DATA A0
|
|
//#define PIN_SHUTTER_TRIGGER A1
|
|
//#define PIN_PAN_HALL A3
|
|
//#define PIN_TILT_HALL A4
|
|
//#define PIN_INPUT_VOLTAGE A5
|
|
//#define PIN_ENABLE 12
|
|
//#define PIN_MS1 11
|
|
//#define PIN_MS2 10
|
|
//#define PIN_MS3 9
|
|
//#define PIN_STEP_SLIDER 8
|
|
//#define PIN_DIRECTION_SLIDER 7
|
|
//#define PIN_STEP_TILT 6
|
|
//#define PIN_DIRECTION_TILT 5
|
|
//#define PIN_STEP_PAN 4
|
|
//#define PIN_DIRECTION_PAN 3
|
|
//#define PIN_LASER 2
|
|
|
|
#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
|
|
|
|
#define FULL_STEP 1
|
|
#define HALF_STEP 2
|
|
#define QUARTER_STEP 4
|
|
#define EIGHTH_STEP 8
|
|
#define SIXTEENTH_STEP 16
|
|
|
|
#define PAN_GEAR_RATIO 8.4705882352941176470588235294118 //144/17 teeth
|
|
#define TILT_GEAR_RATIO 3.047619047619047619047619047619 //64/21 teeth
|
|
|
|
#define MAX_STRING_LENGTH 10
|
|
#define ARRAY_LENGTH 20
|
|
|
|
#define SHUTTER_DELAY 200
|
|
|
|
#define INSTRUCTION_BYTES_PAN_SPEED 1
|
|
#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_SET_HOME 'h'
|
|
#define INSTRUCTION_ENABLE 'e'
|
|
#define INSTRUCTION_SET_ACCELLERATION 'a'
|
|
#define INSTRUCTION_SET_PAN_SPEED 's'
|
|
#define INSTRUCTION_SET_TILT_SPEED 'S'
|
|
#define INSTRUCTION_INVERT_PAN 'i'
|
|
#define INSTRUCTION_INVERT_TILT 'I'
|
|
#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_DEBUG_STATUS 'R'
|
|
#define INSTRUCTION_PAN_RUN_SPEED 'k'
|
|
//#define INSTRUCTION_TILT_RUN_SPEED 'l'
|
|
#define INSTRUCTION_EXECUTE_MOVES ';'
|
|
#define INSTRUCTION_ADD_POSITION '#'
|
|
#define INSTRUCTION_STEP_FORWARD '>'
|
|
#define INSTRUCTION_STEP_BACKWARD '<'
|
|
#define INSTRUCTION_JUMP_TO_START '['
|
|
#define INSTRUCTION_JUMP_TO_END ']'
|
|
#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_PANORAMICLAPSE '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_SLIDER_MIN_LIMIT 'z'
|
|
#define INSTRUCTION_SLIDER_MAX_LIMIT 'Z'
|
|
#define INSTRUCTION_ANGLE_BETWEEN_PICTURES 'b'
|
|
#define INSTRUCTION_DELAY_BETWEEN_PICTURES 'B'
|
|
#define INSTRUCTION_TIMELAPSE 'l'
|
|
#define INSTRUCTION_SLIDER_MILLIMETRES 'x'
|
|
#define INSTRUCTION_INVERT_SLIDER 'j'
|
|
#define INSTRUCTION_SET_SLIDER_SPEED 'X'
|
|
|
|
#define EEPROM_ADDRESS_ENABLE_HOMING 0
|
|
#define EEPROM_ADDRESS_LIMIT_PAN_MIN 1
|
|
#define EEPROM_ADDRESS_LIMIT_PAN_MAX 5
|
|
#define EEPROM_ADDRESS_LIMIT_TILT_MIN 9
|
|
#define EEPROM_ADDRESS_LIMIT_TILT_MAX 13
|
|
#define EEPROM_ADDRESS_PAN_MAX_SPEED 17
|
|
#define EEPROM_ADDRESS_TILT_MAX_SPEED 21
|
|
#define EEPROM_ADDRESS_PAN_ACCELERATION 25
|
|
#define EEPROM_ADDRESS_TILT_ACCELERATION 29
|
|
#define EEPROM_ADDRESS_HALL_PAN_OFFSET 33
|
|
#define EEPROM_ADDRESS_HALL_TILT_OFFSET 37
|
|
#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_PANORAMICLAPSE_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 EEPROM_ADDRESS_SLIDER_MAX_SPEED 70
|
|
#define EEPROM_ADDRESS_SLIDER_ACCELERATION 74
|
|
#define EEPROM_ADDRESS_INVERT_SLIDER 78
|
|
#define EEPROM_ADDRESS_SLIDER_MIN_LIMIT 79
|
|
#define EEPROM_ADDRESS_SLIDER_MAX_LIMIT 83
|
|
|
|
#define LED_TYPE WS2812B
|
|
#define COLOR_ORDER GRB
|
|
#define NUM_LEDS 1
|
|
#define BRIGHTNESS 255
|
|
|
|
#define VERSION_NUMBER "2.2.1"
|
|
|
|
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
struct ArrayElement {
|
|
long panStepCount = 0;
|
|
float panSpeed = 0;
|
|
long tiltStepCount = 0;
|
|
float tiltSpeed = 0;
|
|
long sliderStepCount = 0;
|
|
float sliderSpeed = 0;
|
|
int msDelay = 0;
|
|
};
|
|
|
|
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void initPanTilt(void);
|
|
void serialFlush(void);
|
|
void enableSteppers(bool);
|
|
void setStepMode(int);
|
|
void serialData(void);
|
|
void mainLoop(void);
|
|
void panJogDegrees(float);
|
|
void tiltJogDegrees(float);
|
|
float panDegreesToStep(float);
|
|
float tiltDegreesToStep(float);
|
|
void statusReport(void);
|
|
void debugReport(void);
|
|
bool findHome(void);
|
|
float getBatteryVoltage(void);
|
|
float getBatteryPercentage(void);
|
|
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);
|
|
void moveToIndex(int);
|
|
void gotoMovesArrayStart(void);
|
|
void gotoMovesArrayEnd(void);
|
|
void editMovesArrayIndex(void);
|
|
void addDelay(unsigned int ms);
|
|
void printProgramElements(void);
|
|
void saveEEPROM(void);
|
|
void printEEPROM(void);
|
|
void setEEPROMVariables(void);
|
|
void invertPanDirection(bool);
|
|
void invertTiltDirection(bool);
|
|
int setTargetPositions(float, float);
|
|
int setTargetPositions(float, 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 panoramiclapseInterpolation(float, float, float, float, float, float, float, unsigned long);
|
|
void panoramiclapse(float, unsigned long, int);
|
|
void toggleEnableLimits(void);
|
|
float sliderMillimetresToSteps(float);
|
|
float sliderStepsToMillimetres(long);
|
|
void sliderMoveTo(float);
|
|
void scaleMovesArraySliderMaxSpeed(float);
|
|
void invertSliderDirection(bool);
|
|
void timelapse(unsigned int, unsigned long);
|
|
|
|
/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
#endif
|