mirror of
https://github.com/isaac879/Pan-Tilt-Mount.git
synced 2026-08-16 13:03:15 +02:00
138 lines
4.3 KiB
C
138 lines
4.3 KiB
C
#ifndef PANTILTMOUNT_H
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#define PANTILTMOUNT_H
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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#define BAUD_RATE 57600
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#define PIN_MS 11
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#define PIN_ENABLE 12
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#define PIN_DIRECTION_PAN 5
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#define PIN_STEP_PAN 6
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#define PIN_DIRECTION_TILT 7
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#define PIN_STEP_TILT 8
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#define PIN_DIRECTION_SLIDER 9
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#define PIN_STEP_SLIDER 10
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#define PIN_PAN_HALL A3
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#define PIN_TILT_HALL A4
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#define PIN_INPUT_VOLTAGE A5
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#define FULL_STEP 1
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#define HALF_STEP 2
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#define QUARTER_STEP 4
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#define EIGHTH_STEP 8
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#define SIXTEENTH_STEP 16
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#define PAN_GEAR_RATIO 8.4705882352941176470588235294118 //144/17 teeth
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#define TILT_GEAR_RATIO 3.047619047619047619047619047619 //64/21 teeth
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#define MAX_STRING_LENGTH 10
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#define ARRAY_LENGTH 20
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#define INSTRUCTION_STEP_MODE 'm'
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#define INSTRUCTION_PAN_STEPS 'P'
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#define INSTRUCTION_TILT_STEPS 'T'
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#define INSTRUCTION_PAN_DEGREES 'p'
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#define INSTRUCTION_TILT_DEGREES 't'
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//#define INSTRUCTION_HOME 'h'
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#define INSTRUCTION_SET_HOME 'h'
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#define INSTRUCTION_ENABLE 'e'
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#define INSTRUCTION_SET_ACCELLERATION 'a'
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#define INSTRUCTION_SET_PAN_SPEED 's'
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#define INSTRUCTION_SET_TILT_SPEED 'S'
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#define INSTRUCTION_INVERT_PAN 'i'
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#define INSTRUCTION_INVERT_TILT 'I'
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#define INSTRUCTION_SET_PAN_HALL_OFFSET 'o'
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#define INSTRUCTION_SET_TILT_HALL_OFFSET 'O'
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#define INSTRUCTION_TOGGLE_HOMING 'H'
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#define INSTRUCTION_AUTO_HOME 'A'
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#define INSTRUCTION_MULTISTEPPER_TEST_2 '2'
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#define INSTRUCTION_MULTISTEPPER_TEST_3 '3'
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#define INSTRUCTION_DEMO_1 '4'
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#define INSTRUCTION_STATUS 'r'
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#define INSTRUCTION_DEBUG_STATUS 'R'
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#define INSTRUCTION_PAN_RUN_SPEED 'k'
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#define INSTRUCTION_TILT_RUN_SPEED 'l'
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#define INSTRUCTION_EXECUTE_MOVES ';'
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#define INSTRUCTION_ADD_POSITION '#'
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#define INSTRUCTION_STEP_FORWARD '>'
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#define INSTRUCTION_STEP_BACKWARD '<'
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#define INSTRUCTION_JUMP_TO_START '['
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#define INSTRUCTION_JUMP_TO_END ']'
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#define INSTRUCTION_EDIT_ARRAY 'E'
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#define INSTRUCTION_ADD_DELAY 'D'
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#define INSTRUCTION_CLEAR_ARRAY 'C'
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#define INSTRUCTION_SAVE_TO_EEPROM 'U'
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#define EEPROM_ADDRESS_ENABLE_HOMING 0
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#define EEPROM_ADDRESS_LIMIT_PAN_MIN 1
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#define EEPROM_ADDRESS_LIMIT_PAN_MAX 5
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#define EEPROM_ADDRESS_LIMIT_TILT_MIN 9
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#define EEPROM_ADDRESS_LIMIT_TILT_MAX 13
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#define EEPROM_ADDRESS_PAN_MAX_SPEED 17
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#define EEPROM_ADDRESS_TILT_MAX_SPEED 21
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#define EEPROM_ADDRESS_PAN_ACCELERATION 25
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#define EEPROM_ADDRESS_TILT_ACCELERATION 29
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#define EEPROM_ADDRESS_HALL_PAN_OFFSET 33
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#define EEPROM_ADDRESS_HALL_TILT_OFFSET 37
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#define EEPROM_ADDRESS_INVERT_PAN 41
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#define EEPROM_ADDRESS_INVERT_TILT 42
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#define EEPROM_ADDRESS_MODE 43
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#define VERSION_NUMBER "1.3.1"
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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struct ArrayElement {
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long panStepCount = 0;
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float panSpeed = 0;
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long tiltStepCount = 0;
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float tiltSpeed = 0;
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int msDelay = 0;
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};
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void initPanTilt(void);
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void serialFlush(void);
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void enableSteppers(bool);
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void setStepMode(int);
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void serialData(void);
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void mainLoop(void);
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void panJogDegrees(float);
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void tiltJogDegrees(float);
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float panDegreesToStep(float);
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float tiltDegreesToStep(float);
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void statusReport(void);
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void debugReport(void);
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bool findHome(void);
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float getBatteryVoltage(void);
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float getBatteryPercentage(void);
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float boundFloat(float, float, float);
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float panDegreesToSteps(float);
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float tiltDegreesToSteps(float);
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float panStepsToDegrees(long);
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float tiltStepsToDegrees(long);
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int addPosition(void);
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void clearArray(void);
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void executeMoves(int);
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void moveToIndex(int);
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void gotoMovesArrayStart(void);
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void gotoMovesArrayEnd(void);
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void editMovesArrayIndex(void);
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void addDelay(unsigned int ms);
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void printProgramElements(void);
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void saveEEPROM(void);
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void printEEPROM(void);
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void setEEPROMVariables(void);
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void invertPanDirection(bool);
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void invertTiltDirection(bool);
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int setTargetPositions(float, float);
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void toggleAutoHoming(void);
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/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
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#endif
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