mirror of
https://github.com/isaac879/Pan-Tilt-Mount.git
synced 2026-08-16 13:03:15 +02:00
1134 lines
51 KiB
C++
1134 lines
51 KiB
C++
#include "PanTiltMount.h"
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#include <Iibrary.h> //A library I created for Arduino that contains some simple functions I commonly use. Library available at: https://github.com/isaac879/Iibrary
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#include <AccelStepper.h> //Library to control the stepper motors http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
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#include <MultiStepper.h> //Library to control multiple coordinated stepper motors http://www.airspayce.com/mikem/arduino/AccelStepper/classMultiStepper.html#details
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#include <EEPROM.h> //To be able to save values when powered off
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#include <FastLED.h> //Controls the WS2812B Addressable status LED
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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//Global scope
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CRGB leds[NUM_LEDS];
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AccelStepper stepper_pan = AccelStepper(1, PIN_STEP_PAN, PIN_DIRECTION_PAN);
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AccelStepper stepper_tilt = AccelStepper(1, PIN_STEP_TILT, PIN_DIRECTION_TILT);
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AccelStepper stepper_slider = AccelStepper(1, PIN_STEP_SLIDER, PIN_DIRECTION_SLIDER);
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MultiStepper multi_stepper;
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KeyframeElement keyframe_array[KEYFRAME_ARRAY_LENGTH];
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int keyframe_elements = 0;
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int current_keyframe_index = -1;
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char stringText[MAX_STRING_LENGTH + 1];
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float pan_steps_per_degree = (200.0 * SIXTEENTH_STEP * PAN_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
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float tilt_steps_per_degree = (200.0 * SIXTEENTH_STEP * TILT_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
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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
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int step_mode = SIXTEENTH_STEP;
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bool enable_state = true;
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float hall_pan_offset_degrees = 0;
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float hall_tilt_offset_degrees = 0;
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byte invert_pan = 0;
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byte invert_tilt = 0;
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byte invert_slider = 0;
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byte enable_homing = 0;
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float pan_max_speed = 15; //degrees/second
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float tilt_max_speed = 45; //degrees/second
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float slider_max_speed = 15; //mm/second
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long target_position[3];
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float degrees_per_picture = 0.5;
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unsigned long delay_ms_between_pictures = 1000;
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FloatCoordinate intercept;
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void initPanTilt(void){
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Serial.begin(BAUD_RATE);
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pinMode(PIN_MS1, OUTPUT);
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pinMode(PIN_MS2, OUTPUT);
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pinMode(PIN_MS3, OUTPUT);
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pinMode(PIN_ENABLE, OUTPUT);
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pinMode(PIN_DIRECTION_PAN, OUTPUT);
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pinMode(PIN_STEP_PAN, OUTPUT);
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pinMode(PIN_DIRECTION_TILT, OUTPUT);
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pinMode(PIN_STEP_TILT, OUTPUT);
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pinMode(PIN_DIRECTION_SLIDER, OUTPUT);
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pinMode(PIN_STEP_SLIDER, OUTPUT);
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pinMode(PIN_PAN_HALL, INPUT_PULLUP);
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pinMode(PIN_TILT_HALL, INPUT_PULLUP);
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pinMode(PIN_SLIDER_HALL, INPUT_PULLUP);
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pinMode(PIN_SHUTTER_TRIGGER, OUTPUT);
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digitalWrite(PIN_SHUTTER_TRIGGER, LOW);
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FastLED.addLeds<LED_TYPE, PIN_LED_DATA, COLOR_ORDER>(leds, NUM_LEDS);
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FastLED.setBrightness(BRIGHTNESS);
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LEDS.showColor(CHSV(160, 255, 255)); //Set led to blue
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setEEPROMVariables();
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setStepMode(step_mode); //steping mode
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stepper_pan.setMaxSpeed(panDegreesToSteps(pan_max_speed));
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stepper_tilt.setMaxSpeed(tiltDegreesToSteps(tilt_max_speed));
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stepper_slider.setMaxSpeed(sliderMillimetresToSteps(slider_max_speed));
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invertPanDirection(invert_pan);
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invertTiltDirection(invert_tilt);
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invertSliderDirection(invert_slider);
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multi_stepper.addStepper(stepper_pan);
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multi_stepper.addStepper(stepper_tilt);
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multi_stepper.addStepper(stepper_slider);
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digitalWrite(PIN_ENABLE, LOW); //Enable the stepper drivers
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enable_state = true;
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//printi(F("Setup complete.\n"));
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if(enable_homing == 1){
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printi(F("Beginning homing...\n"));
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if(findHome()){
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printi(F("Homing complete.\n"));
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}
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else{
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stepper_pan.setCurrentPosition(0);
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stepper_tilt.setCurrentPosition(0);
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printi(F("Error finding home position. Current position has been set as home.\n"));
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}
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}
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ledBatteryLevel(getBatteryPercentage());
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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float boundFloat(float value, float lower, float upper){
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if(value < lower){
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value = lower;
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}
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else if(value > upper){
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value = upper;
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}
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return value;
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void serialFlush(void){
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while(Serial.available() > 0){
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char c = Serial.read();
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}
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void enableSteppers(void){
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if(enable_state == false){
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digitalWrite(PIN_ENABLE, LOW); //Enable the stepper drivers
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enable_state = true;
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printi(F("Motors enabled.\n"));
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}
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else{
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digitalWrite(PIN_ENABLE, HIGH); //Disabe the stepper drivers
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enable_state = false;
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printi(F("Motors disabled.\n"));
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}
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void setStepMode(int newMode){
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float stepRatio = newMode / step_mode; //Ratio between the new step mode and the previously set one.
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if(newMode == FULL_STEP){
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digitalWrite(PIN_MS1, LOW);
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digitalWrite(PIN_MS2, LOW);
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digitalWrite(PIN_MS3, LOW);
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}
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else if(newMode == HALF_STEP){
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digitalWrite(PIN_MS1, HIGH);
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digitalWrite(PIN_MS2, LOW);
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digitalWrite(PIN_MS3, LOW);
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}
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else if(newMode == QUARTER_STEP){
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digitalWrite(PIN_MS1, LOW);
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digitalWrite(PIN_MS2, HIGH);
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digitalWrite(PIN_MS3, LOW);
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}
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else if(newMode == EIGHTH_STEP){
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digitalWrite(PIN_MS1, HIGH);
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digitalWrite(PIN_MS2, HIGH);
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digitalWrite(PIN_MS3, LOW);
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}
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else if(newMode == SIXTEENTH_STEP){
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digitalWrite(PIN_MS1, HIGH);
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digitalWrite(PIN_MS2, HIGH);
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digitalWrite(PIN_MS3, HIGH);
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}
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else{ //If an invalid step mode was entered.
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printi(F("Invalid step mode... Enter a 1, 2, 4, 8, 16 for corresponding step mode.\n"));
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return;
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}
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//Scale current step to match the new step mode
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stepper_pan.setCurrentPosition(stepper_pan.currentPosition() * stepRatio);
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stepper_tilt.setCurrentPosition(stepper_tilt.currentPosition() * stepRatio);
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stepper_slider.setCurrentPosition(stepper_slider.currentPosition() * stepRatio);
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pan_steps_per_degree = (200.0 * newMode * PAN_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
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tilt_steps_per_degree = (200.0 * newMode * TILT_GEAR_RATIO) / 360.0; //Stepper motor has 200 steps per 360 degrees
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slider_steps_per_millimetre = (200.0 * newMode) / (20 * 2); //Stepper motor has 200 steps per 360 degrees, the timing pully has 20 teeth and the belt has a pitch of 2mm
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stepper_pan.setMaxSpeed(panDegreesToSteps(pan_max_speed));
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stepper_tilt.setMaxSpeed(tiltDegreesToSteps(tilt_max_speed));
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stepper_slider.setMaxSpeed(sliderMillimetresToSteps(slider_max_speed));
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step_mode = newMode;
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printi(F("Set to "), step_mode, F(" step mode.\n"));
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void panJogDegrees(float jogAngle){
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target_position[0] = panDegreesToSteps(jogAngle);
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multi_stepper.moveTo(target_position);
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void tiltJogDegrees(float jogAngle){
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target_position[1] = tiltDegreesToSteps(jogAngle);
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multi_stepper.moveTo(target_position);
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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float panDegreesToSteps(float angle){
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return pan_steps_per_degree * angle;
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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float tiltDegreesToSteps(float angle){
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return tilt_steps_per_degree * angle;
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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long sliderMillimetresToSteps(float mm){
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return mm * slider_steps_per_millimetre;
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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float sliderStepsToMillimetres(long steps){
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return steps / slider_steps_per_millimetre;
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void sliderMoveTo(float mm){
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target_position[2] = sliderMillimetresToSteps(mm);
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multi_stepper.moveTo(target_position);
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void printKeyframeElements(void){
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printi(F("---Keyframes---\n"));
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printi(F("Keyframe index: "), current_keyframe_index, F("\n"));
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for(int row = 0; row < keyframe_elements; row++){
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printi(F(""), row, F("\t|"));
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printi(F(" Pan: "), panStepsToDegrees(keyframe_array[row].panStepCount), 3, F("º\t"));
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printi(F("Tilt: "), tiltStepsToDegrees(keyframe_array[row].tiltStepCount), 3, F("º\t"));
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printi(F("Slider: "), sliderStepsToMillimetres(keyframe_array[row].sliderStepCount), 3, F("mm\t"));
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printi(F("Pan Speed: "), panStepsToDegrees(keyframe_array[row].panSpeed), 3, F(" º/s\t"));
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printi(F("Tilt Speed: "), tiltStepsToDegrees(keyframe_array[row].tiltSpeed), 3, F(" º/s\t"));
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printi(F("Slider Speed: "), sliderStepsToMillimetres(keyframe_array[row].sliderSpeed), 3, F(" mm/s\t"));
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printi(F("Delay: "), keyframe_array[row].msDelay, F("ms |\n"));
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}
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printi(F("\n"));
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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void debugReport(void){
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printi(F("---Status---\n"));
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printi(F("Enable state: "), enable_state);
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printi(F("Step Mode: "), step_mode);
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// printi(F("Pan Hall sensor state: "), digitalRead(PIN_PAN_HALL));
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// printi(F("Tilt Hall sensor state: "), digitalRead(PIN_TILT_HALL));
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// printi(F("Pan step count: "), stepper_pan.currentPosition());
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// printi("Tilt step count: ", stepper_tilt.currentPosition());
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// printi("Slider step count: ", stepper_slider.currentPosition());
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printi(F("Pan angle: "), panStepsToDegrees(stepper_pan.currentPosition()), 3, F("º\n"));
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printi(F("Tilt angle: "), tiltStepsToDegrees(stepper_tilt.currentPosition()), 3, F("º\n"));
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printi(F("Slider position: "), sliderStepsToMillimetres(stepper_slider.currentPosition()), 3, F("mm\n"));
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// printi(F("Pan steps per º: "), pan_steps_per_degree);
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// printi(F("Tilt steps per º: "), tilt_steps_per_degree);
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// printi(F("Slider steps per mm: "), slider_steps_per_millimetre);
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// printi(F("Pan current steps/s: "), stepper_pan.speed());
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// printi(F("Tilt current steps/s: "), stepper_tilt.speed());
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// printi(F("Slider current steps/s: "), stepper_slider.speed());
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// printi(F("Pan current º/s: "), panStepsToDegrees(stepper_pan.speed()));
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// printi(F("Tilt current º/s: "), tiltStepsToDegrees(stepper_tilt.speed()));
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// printi(F("Slider current mm/s: "), sliderStepsToMillimetres(stepper_slider.speed()));
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// printi(F("Pan maximum steps/s: "), stepper_pan.maxSpeed());
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// printi(F("Tilt maximum steps/s: "), stepper_tilt.maxSpeed());
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// printi(F("Slider maximum steps/s: "), stepper_slider.maxSpeed());
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printi(F("Pan max speed: "), panStepsToDegrees(stepper_pan.maxSpeed()), 3, F("º/s\n"));
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printi(F("Tilt max speed: "), tiltStepsToDegrees(stepper_tilt.maxSpeed()), 3, F("º/s\n"));
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printi(F("Slider max speed: "), sliderStepsToMillimetres(stepper_slider.maxSpeed()), 3, F("mm/s\n"));
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// printi(F("Pan acceleration steps/s/s: "), pan_acceleration);
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// printi(F("Tilt acceleration steps/s/s: "), tilt_acceleration);
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// printi(F("Slider acceleration steps/s/s: "), slider_acceleration);
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// printi(F("Pan acceleration º/s/s: "), panStepsToDegrees(pan_acceleration));
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// printi(F("Tilt acceleration º/s/s: "), tiltStepsToDegrees(tilt_acceleration));
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// printi(F("Slider acceleration mm/s/s: "), sliderStepsToMillimetres(slider_acceleration));
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// printi(F("Pan min limit: "), limit_pan_min, 3, F("º\n"));
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// printi(F("Pan max limit: "), limit_pan_max, 3, F("º\n"));
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// printi(F("Tilt min limit: "), limit_tilt_min, 3, F("º\n"));
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// printi(F("Tilt max limit: "), limit_tilt_max, 3, F("º\n"));
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// printi(F("Slider min limit: "), limit_slider_min, 3, F("mm\n"));
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// printi(F("Slider max limit: "), limit_slider_max, 3, F("mm\n"));
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// printi(F("Enable limits: "), enable_limits);
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// printi(F("Pan invert direction: "), invert_pan);
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// printi(F("Tilt invert direction: "), invert_tilt);
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// printi(F("Slider invert direction: "), invert_slider);
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// printi(F("Pan Hall offset: "), hall_pan_offset_degrees, 3, F("º\n"));
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// printi(F("Tilt Hall offset: "), hall_tilt_offset_degrees, 3, F("º\n"));
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// printi(F("Battery voltage: "), getBatteryVoltage(), 3, F("V\n"));
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printi(F("Battery percentage: "), getBatteryPercentage(), 3, F("%\n"));
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printi(F("Homing on start-up: "), enable_homing);
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printi(F("Angle between pictures: "), degrees_per_picture, 3, F("º\n"));
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printi(F("Panoramiclapse delay between pictures: "), delay_ms_between_pictures, F("ms\n"));
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printi(F("Version: "));
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printi(F(VERSION_NUMBER));
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printi(F("\n"));
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printEEPROM();
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printKeyframeElements();
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printi(F("-------\n"));
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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int setTargetPositions(float panDeg, float tiltDeg){
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target_position[0] = panDegreesToSteps(panDeg);
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target_position[1] = tiltDegreesToSteps(tiltDeg);
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multi_stepper.moveTo(target_position);
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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int setTargetPositions(float panDeg, float tiltDeg, float sliderMillimetre){
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target_position[0] = panDegreesToSteps(panDeg);
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target_position[1] = tiltDegreesToSteps(tiltDeg);
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target_position[2] = sliderMillimetresToSteps(sliderMillimetre);
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multi_stepper.moveTo(target_position);
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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bool findHome(void){
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bool panHomeFlag = false;
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bool tiltHomeFlag = false;
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int panHomingDir = -1;
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int tiltHomingDir = -1;
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setTargetPositions(0, 0);
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stepper_pan.setCurrentPosition(0);//set step count to 0
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stepper_tilt.setCurrentPosition(0);//set step count to 0
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while(digitalRead(PIN_PAN_HALL) == 0 || digitalRead(PIN_TILT_HALL) == 0){//If already on a Hall sensor move off
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target_position[0] = target_position[0] + panDegreesToSteps(!digitalRead(PIN_PAN_HALL));//increment by 1 degree
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target_position[1] = target_position[1] + tiltDegreesToSteps(!digitalRead(PIN_TILT_HALL));//increment by 1 degree
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if(target_position[0] > panDegreesToSteps(360) && target_position[1] > tiltDegreesToSteps(360)){//If both axis have done more than a full rotation there must be an issue...
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return false;
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}
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multi_stepper.moveTo(target_position);
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multi_stepper.runSpeedToPosition();
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}
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stepper_pan.setCurrentPosition(0);//set step count to 0
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stepper_tilt.setCurrentPosition(0);//set step count to 0
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setTargetPositions(-45, -45);
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while(multi_stepper.run()){
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if(digitalRead(PIN_PAN_HALL) == 0){
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stepper_pan.setCurrentPosition(0);//set step count to 0
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setTargetPositions(0, -45 * !tiltHomeFlag);
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panHomeFlag = true;
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panHomingDir = 1;
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}
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if(digitalRead(PIN_TILT_HALL) == 0){
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stepper_tilt.setCurrentPosition(0);
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setTargetPositions(-45 * !panHomeFlag, 0);
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tiltHomeFlag = true;
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tiltHomingDir = 1;
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}
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}
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setTargetPositions(45 * !panHomeFlag, 45 * !tiltHomeFlag);//set angle to 0 for an axis if it's home
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while(multi_stepper.run()){
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if(digitalRead(PIN_PAN_HALL) == 0){
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stepper_pan.setCurrentPosition(0);//set step count to 0
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setTargetPositions(0, 45);
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panHomeFlag = true;
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}
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if(digitalRead(PIN_TILT_HALL) == 0){
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stepper_tilt.setCurrentPosition(0);
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setTargetPositions(45 * !panHomeFlag, 0);
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tiltHomeFlag = true;
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}
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}
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setTargetPositions(360 * !panHomeFlag, 360 * !tiltHomeFlag);//full rotation on both axis so it must pass the home position
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while(multi_stepper.run()){
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if(digitalRead(PIN_PAN_HALL) == 0){
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stepper_pan.setCurrentPosition(0);//set step count to 0
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setTargetPositions(0, 360 * !tiltHomeFlag);
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panHomeFlag = true;
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}
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if(digitalRead(PIN_TILT_HALL) == 0){
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stepper_tilt.setCurrentPosition(0);
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setTargetPositions(360 * !panHomeFlag, 0);
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tiltHomeFlag = true;
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}
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}
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if(panHomeFlag && tiltHomeFlag){
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setTargetPositions(hall_pan_offset_degrees * panHomingDir, hall_tilt_offset_degrees * tiltHomingDir);
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multi_stepper.runSpeedToPosition();
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stepper_pan.setCurrentPosition(0);//set step count to 0
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stepper_tilt.setCurrentPosition(0);//set step count to 0
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setTargetPositions(0, 0);
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return true;
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}
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else{
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return false;
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}
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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float getBatteryVoltage(void){ //TODO: Calibrate the values for your battery
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return mapNumber(analogRead(PIN_INPUT_VOLTAGE), 0, 1007, 0, 12.6);//1007 = 12.6V
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}
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/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
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|
|
float getBatteryPercentage(void){ //TODO: Calibrate the values for your battery
|
|
return boundFloat(mapNumber(getBatteryVoltage(), 9, 12.6, 0, 100), 0, 100); //780 = 9V = 0%, 1023 = 12.6V = 100%
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
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(keyframe_elements >= 0 && keyframe_elements < KEYFRAME_ARRAY_LENGTH){
|
|
keyframe_array[keyframe_elements].panStepCount = stepper_pan.currentPosition();
|
|
keyframe_array[keyframe_elements].tiltStepCount = stepper_tilt.currentPosition();
|
|
keyframe_array[keyframe_elements].sliderStepCount = stepper_slider.currentPosition();
|
|
keyframe_array[keyframe_elements].panSpeed = stepper_pan.maxSpeed();
|
|
keyframe_array[keyframe_elements].tiltSpeed = stepper_tilt.maxSpeed();
|
|
keyframe_array[keyframe_elements].sliderSpeed = stepper_slider.maxSpeed();
|
|
current_keyframe_index = keyframe_elements;
|
|
keyframe_elements++;//increment the index
|
|
printi(F("Position added at index: "), current_keyframe_index);
|
|
return 0;
|
|
}
|
|
else{
|
|
printi(F("Max number of position reached\n"));
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void clearKeyframes(void){
|
|
for(int row = 0; row < KEYFRAME_ARRAY_LENGTH; row++){
|
|
keyframe_array[row].panStepCount = 0;
|
|
keyframe_array[row].tiltStepCount = 0;
|
|
keyframe_array[row].sliderStepCount = 0;
|
|
keyframe_array[row].panSpeed = 0;
|
|
keyframe_array[row].tiltSpeed = 0;
|
|
keyframe_array[row].sliderSpeed = 0;
|
|
keyframe_array[row].msDelay = 0;
|
|
}
|
|
keyframe_elements = 0;
|
|
current_keyframe_index = -1;
|
|
printi(F("Keyframes cleared.\n"));
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void moveToIndex(int index){
|
|
if(index < keyframe_elements && index >= 0){
|
|
target_position[0] = keyframe_array[index].panStepCount;
|
|
target_position[1] = keyframe_array[index].tiltStepCount;
|
|
target_position[2] = keyframe_array[index].sliderStepCount;
|
|
stepper_pan.setMaxSpeed(keyframe_array[index].panSpeed);
|
|
stepper_tilt.setMaxSpeed(keyframe_array[index].tiltSpeed);
|
|
stepper_slider.setMaxSpeed(keyframe_array[index].sliderSpeed);
|
|
multi_stepper.moveTo(target_position); //Sets new target positions
|
|
multi_stepper.runSpeedToPosition(); //Moves and blocks until complete
|
|
delay(keyframe_array[index].msDelay);
|
|
current_keyframe_index = index;
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void executeMoves(int repeat){
|
|
for(int i = 0; i < repeat; i++){
|
|
for(int row = 0; row < keyframe_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
|
|
printi(F("Battery low! Turn the power off."));
|
|
while(1){}//loop and do nothing
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void gotoFirstKeyframe(void){
|
|
moveToIndex(0);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void gotoLastKeyframe(void){
|
|
moveToIndex(keyframe_elements - 1);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void editKeyframe(void){
|
|
keyframe_array[current_keyframe_index].panStepCount = stepper_pan.currentPosition();
|
|
keyframe_array[current_keyframe_index].tiltStepCount = stepper_tilt.currentPosition();
|
|
keyframe_array[current_keyframe_index].sliderStepCount = stepper_slider.currentPosition();
|
|
keyframe_array[current_keyframe_index].panSpeed = stepper_pan.maxSpeed();
|
|
keyframe_array[current_keyframe_index].tiltSpeed = stepper_tilt.maxSpeed();
|
|
keyframe_array[current_keyframe_index].sliderSpeed = stepper_slider.maxSpeed();
|
|
|
|
printi(F("Edited index: "), current_keyframe_index);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void addDelay(unsigned int ms){
|
|
keyframe_array[current_keyframe_index].msDelay = ms;
|
|
printi(ms, F(""));
|
|
printi(F("ms delay added at index: "), current_keyframe_index);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
//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 scaleMovesArraySliderMaxSpeed(float newMax){
|
|
// float currentMax = 0;
|
|
// for(int row = 0; row < moves_array_elements; row++){ //Find the maximum pan speed
|
|
// if(program_elements[row].sliderSpeed > currentMax){
|
|
// currentMax = program_elements[row].sliderSpeed;
|
|
// }
|
|
// }
|
|
// float speedRatio = newMax / currentMax;
|
|
// for(int row = 0; row < moves_array_elements; row++){ //Scale all the pan speeds
|
|
// program_elements[row].sliderSpeed = program_elements[row].sliderSpeed * speedRatio;
|
|
// }
|
|
//}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void invertPanDirection(bool invert){
|
|
printi(F("Pan inversion: "), invert);
|
|
invert_pan = invert;
|
|
stepper_pan.setPinsInverted(invert, false, false);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void invertTiltDirection(bool invert){
|
|
printi(F("Tilt inversion: "), invert);
|
|
invert_tilt = invert;
|
|
stepper_tilt.setPinsInverted(invert, false, false);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void invertSliderDirection(bool invert){
|
|
printi(F("Slider inversion: "), invert);
|
|
invert_slider = invert;
|
|
stepper_slider.setPinsInverted(invert, false, false);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void saveEEPROM(void){
|
|
EEPROM.put(EEPROM_ADDRESS_ENABLE_HOMING, enable_homing);
|
|
EEPROM.put(EEPROM_ADDRESS_MODE, step_mode);
|
|
EEPROM.put(EEPROM_ADDRESS_PAN_MAX_SPEED, pan_max_speed);
|
|
EEPROM.put(EEPROM_ADDRESS_TILT_MAX_SPEED, tilt_max_speed);
|
|
EEPROM.put(EEPROM_ADDRESS_SLIDER_MAX_SPEED, slider_max_speed);
|
|
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_SLIDER, invert_slider);
|
|
EEPROM.put(EEPROM_ADDRESS_DEGREES_PER_PICTURE, degrees_per_picture);
|
|
EEPROM.put(EEPROM_ADDRESS_PANORAMICLAPSE_DELAY, delay_ms_between_pictures);
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void printEEPROM(void){
|
|
int itemp;
|
|
float ftemp;
|
|
long ltemp;
|
|
printi(F("---EEPROM---\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_MODE, itemp);
|
|
printi(F("Step mode: "), itemp, F("\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_PAN_MAX_SPEED, ftemp);
|
|
printi(F("Pan max speed: "), ftemp, 3, F("º/s\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_SPEED, ftemp);
|
|
printi(F("Tilt max speed: "), ftemp, 3, F("º/s\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_SLIDER_MAX_SPEED, ftemp);
|
|
printi(F("Slider max speed: "), ftemp, 3, F("mm/s\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_HALL_PAN_OFFSET, ftemp);
|
|
printi(F("Pan Hall offset: "), ftemp, 3, F("º\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_HALL_TILT_OFFSET, ftemp);
|
|
printi(F("Tilt Hall offset: "), ftemp, 3, F("º\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_DEGREES_PER_PICTURE, ftemp);
|
|
printi(F("Angle between pictures: "), ftemp, 3, F(" º\n"));
|
|
EEPROM.get(EEPROM_ADDRESS_PANORAMICLAPSE_DELAY, ltemp);
|
|
printi(F("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("Slider invert: "), EEPROM.read(EEPROM_ADDRESS_INVERT_SLIDER));
|
|
printi(F("Homing on start-up: "), EEPROM.read(EEPROM_ADDRESS_ENABLE_HOMING));
|
|
printi(F("\n"));
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void setEEPROMVariables(void){
|
|
EEPROM.get(EEPROM_ADDRESS_MODE, step_mode);
|
|
EEPROM.get(EEPROM_ADDRESS_PAN_MAX_SPEED, pan_max_speed);
|
|
EEPROM.get(EEPROM_ADDRESS_TILT_MAX_SPEED, tilt_max_speed);
|
|
EEPROM.get(EEPROM_ADDRESS_SLIDER_MAX_SPEED, slider_max_speed);
|
|
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_PANORAMICLAPSE_DELAY, delay_ms_between_pictures);
|
|
invert_pan = EEPROM.read(EEPROM_ADDRESS_INVERT_PAN);
|
|
invert_tilt = EEPROM.read(EEPROM_ADDRESS_INVERT_TILT);
|
|
invert_slider = EEPROM.read(EEPROM_ADDRESS_INVERT_SLIDER);
|
|
enable_homing = EEPROM.read(EEPROM_ADDRESS_ENABLE_HOMING);
|
|
printi(F("EEPROM values set.\n"));
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void toggleAutoHoming(void){
|
|
if(enable_homing == 0){
|
|
enable_homing = 1;
|
|
printi(F("Homing enabled.\n"));
|
|
}
|
|
else{
|
|
enable_homing = 0;
|
|
printi(F("Homing disabled.\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 panoramiclapseInterpolation(float panStartAngle, float tiltStartAngle, float sliderStartPos, float panStopAngle, float tiltStopAngle, float sliderStopPos, float degPerPic, unsigned long msDelay){
|
|
if(degPerPic == 0) return;
|
|
if(msDelay > SHUTTER_DELAY){
|
|
msDelay = msDelay - SHUTTER_DELAY;
|
|
}
|
|
float panAngle = panStopAngle - panStartAngle;
|
|
float tiltAngle = tiltStopAngle - tiltStartAngle;
|
|
float sliderDistance = sliderStopPos - sliderStartPos;
|
|
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;
|
|
float sliderInc = sliderDistance / numberOfIncrements;
|
|
|
|
for(int i = 0; i <= numberOfIncrements; i++){
|
|
setTargetPositions(panStartAngle + (panInc * i), tiltStartAngle + (tiltInc * i), sliderStartPos + (sliderInc * i));
|
|
multi_stepper.runSpeedToPosition();//blocking move to the next position
|
|
delay(msDelay);
|
|
LEDS.showColor(CHSV(160 , 255, 255)); //blue
|
|
triggerCameraShutter();//capture the picture
|
|
LEDS.showColor(CHSV(160 , 255, 0)); //off
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void panoramiclapse(float degPerPic, unsigned long msDelay, int repeat){
|
|
if(keyframe_elements < 2){
|
|
printi(F("Not enough keyframes recorded\n"));
|
|
return; //check there are posions to move to
|
|
}
|
|
for(int i = 0; i < repeat; i++){
|
|
for(int index = 0; index < keyframe_elements - 1; index++){
|
|
panoramiclapseInterpolation(panStepsToDegrees(keyframe_array[index].panStepCount), tiltStepsToDegrees(keyframe_array[index].tiltStepCount), sliderStepsToMillimetres(keyframe_array[index].sliderStepCount),
|
|
panStepsToDegrees(keyframe_array[index + 1].panStepCount), tiltStepsToDegrees(keyframe_array[index + 1].tiltStepCount), sliderStepsToMillimetres(keyframe_array[index + 1].sliderStepCount), degPerPic, msDelay);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void timelapse(unsigned int numberOfPictures, unsigned long msDelay){
|
|
if(msDelay > SHUTTER_DELAY){
|
|
msDelay = msDelay - SHUTTER_DELAY;
|
|
}
|
|
|
|
float panAngle = 0;
|
|
float tiltAngle = 0;
|
|
float sliderTravel = 0;
|
|
|
|
if(keyframe_elements >= 2){
|
|
panAngle = panStepsToDegrees(keyframe_array[1].panStepCount) - panStepsToDegrees(keyframe_array[0].panStepCount);
|
|
tiltAngle = tiltStepsToDegrees(keyframe_array[1].tiltStepCount) - tiltStepsToDegrees(keyframe_array[0].tiltStepCount);
|
|
sliderTravel = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount) - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount);
|
|
}
|
|
|
|
float sliderInc = sliderTravel / numberOfPictures;
|
|
float panInc = panAngle / numberOfPictures;
|
|
float tiltInc = tiltAngle / numberOfPictures;
|
|
|
|
for(int i = 0; i <= numberOfPictures; i++){
|
|
setTargetPositions(panStepsToDegrees(stepper_pan.currentPosition()) + (panInc * i), tiltStepsToDegrees(stepper_tilt.currentPosition()) + (tiltInc * i), sliderStepsToMillimetres(stepper_slider.currentPosition()) + (sliderInc * i));
|
|
multi_stepper.runSpeedToPosition();//blocking move to the next position
|
|
delay(msDelay);
|
|
LEDS.showColor(CHSV(160 , 255, 255)); //blue
|
|
triggerCameraShutter();//capture the picture
|
|
LEDS.showColor(CHSV(160 , 255, 0)); //off
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
bool calculateTargetCoordinate(void){
|
|
float m1, c1, m2, c2;
|
|
|
|
LinePoints line0;
|
|
line0.x0 = sliderStepsToMillimetres(keyframe_array[0].sliderStepCount);
|
|
line0.y0 = 0;
|
|
line0.x1 = line0.x0 + cos(degToRads(panStepsToDegrees(keyframe_array[0].panStepCount)));
|
|
line0.y1 = sin(degToRads(panStepsToDegrees(keyframe_array[0].panStepCount)));
|
|
|
|
LinePoints line1;
|
|
line1.x0 = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount);
|
|
line1.y0 = 0;
|
|
line1.x1 = line1.x0 + cos(degToRads(panStepsToDegrees(keyframe_array[1].panStepCount)));
|
|
line1.y1 = sin(degToRads(panStepsToDegrees(keyframe_array[1].panStepCount)));
|
|
|
|
if((line0.x1 - line0.x0) != 0){
|
|
m1 = (line0.y1 - line0.y0) / (line0.x1 - line0.x0);
|
|
c1 = line0.y1 - m1 * line0.x1;
|
|
}
|
|
|
|
if((line1.x1 - line1.x0) != 0){
|
|
m2 = (line1.y1 - line1.y0) / (line1.x1 - line1.x0);
|
|
c2 = line1.y1 - m2 * line1.x1;
|
|
}
|
|
|
|
if((line0.x1 - line0.x0) == 0){
|
|
intercept.x = line0.x0;
|
|
intercept.y = m2 * intercept.x + c2;
|
|
}
|
|
else if((line1.x1 - line1.x0) == 0){
|
|
intercept.x = line1.x0;
|
|
intercept.y = m1 * intercept.x + c1;
|
|
}
|
|
else{
|
|
if(m1 == m2){
|
|
printi(F("Positions do not intersect."));
|
|
return false;
|
|
}
|
|
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 - 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) || intercept.y == 0){
|
|
printi(F("Invalid intercept.\n"));
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
|
|
if(keyframe_elements < 2){
|
|
printi(F("Not enough keyframes recorded\n"));
|
|
return; //check there are posions to move to
|
|
}
|
|
|
|
float sliderStartPos = sliderStepsToMillimetres(keyframe_array[0].sliderStepCount); //slider start position
|
|
float sliderEndPos = sliderStepsToMillimetres(keyframe_array[1].sliderStepCount);
|
|
float panAngle = 0;
|
|
float tiltAngle = 0;
|
|
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);
|
|
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));
|
|
tiltAngle = radsToDeg(atan2(targetPoint.z, sqrt(pow(x, 2) + ySqared)));
|
|
setTargetPositions(panAngle, tiltAngle, sliderStartPos + increment * i);
|
|
multi_stepper.runSpeedToPosition();//blocking move to the next position
|
|
}
|
|
x = targetPoint.x - sliderEndPos;
|
|
panAngle = radsToDeg(atan2(targetPoint.y, x));
|
|
tiltAngle = radsToDeg(atan2(targetPoint.z, sqrt(pow(x, 2) + ySqared)));
|
|
setTargetPositions(panAngle, tiltAngle, sliderEndPos);
|
|
multi_stepper.runSpeedToPosition();//blocking move to the next position
|
|
|
|
for(int i = numberOfIncrements; (i >= 0 && repeat > 0); i--){
|
|
x = targetPoint.x - (sliderStartPos + increment * i);
|
|
panAngle = radsToDeg(atan2(targetPoint.y, x));
|
|
tiltAngle = radsToDeg(atan2(targetPoint.z, sqrt(pow(x, 2) + ySqared)));
|
|
setTargetPositions(panAngle, tiltAngle, sliderStartPos + increment * i);
|
|
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
|
|
}
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
bool sliderHoming(void){
|
|
while(digitalRead(PIN_SLIDER_HALL) == 0){ //Move off the hall
|
|
target_position[2] = target_position[2] + sliderMillimetresToSteps(1);
|
|
multi_stepper.moveTo(target_position);
|
|
multi_stepper.runSpeedToPosition();
|
|
}
|
|
setTargetPositions(panStepsToDegrees(target_position[0]), tiltStepsToDegrees(target_position[1]), -1200);//1200 is the length of the slider
|
|
while(multi_stepper.run()){
|
|
if(digitalRead(PIN_SLIDER_HALL) == 0){
|
|
stepper_slider.setCurrentPosition(0);//set step count to 0
|
|
setTargetPositions(panStepsToDegrees(target_position[0]), tiltStepsToDegrees(target_position[1]), 0);
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void serialData(void){
|
|
char instruction = Serial.read();
|
|
if(instruction == INSTRUCTION_BYTES_SLIDER_PAN_TILT_SPEED){
|
|
int count = 0;
|
|
while(Serial.available() < 6){//Wait for 6 bytes to be available. Breaks after ~20ms if bytes are not received.
|
|
delayMicroseconds(200);
|
|
count++;
|
|
if(count > 100){
|
|
serialFlush();//Clear the serial buffer
|
|
break;
|
|
}
|
|
}
|
|
int sliderStepSpeed = (Serial.read() << 8) + Serial.read();
|
|
int panStepSpeed = (Serial.read() << 8) + Serial.read();
|
|
int tiltStepSpeed = (Serial.read() << 8) + Serial.read();
|
|
|
|
stepper_slider.setSpeed(sliderStepSpeed);
|
|
stepper_pan.setSpeed(panStepSpeed);
|
|
stepper_tilt.setSpeed(tiltStepSpeed);
|
|
stepper_slider.runSpeed();
|
|
stepper_pan.runSpeed();
|
|
stepper_tilt.runSpeed();
|
|
}
|
|
|
|
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
|
|
strncat(stringText, &digit, 1); //add digit to the end of the array
|
|
}
|
|
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(instruction == 'G' && stringText[0] == 0) return;//For the bluetooth issue of it sending data when it connects...
|
|
switch(instruction){
|
|
case INSTRUCTION_SLIDER_HOME:{
|
|
sliderHoming();
|
|
}
|
|
break;
|
|
case INSTRUCTION_SLIDER_MILLIMETRES:{
|
|
sliderMoveTo(serialCommandValueFloat);
|
|
}
|
|
break;
|
|
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_PANORAMICLAPSE:{
|
|
printi(F("Starting panorama.\n"));
|
|
panoramiclapse(degrees_per_picture, delay_ms_between_pictures, 1);
|
|
printi(F("Finished\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_TIMELAPSE:{
|
|
printi(F("Starting timelapse with "), serialCommandValueInt, F(" pics\n"));
|
|
printi(F(""), delay_ms_between_pictures, F("ms between pics\n"));
|
|
timelapse(serialCommandValueInt, delay_ms_between_pictures);
|
|
printi(F("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()){
|
|
printi(F("Homing complete.\n"));
|
|
}
|
|
else{
|
|
stepper_pan.setCurrentPosition(0);
|
|
stepper_tilt.setCurrentPosition(0);
|
|
stepper_slider.setCurrentPosition(0);
|
|
setTargetPositions(0, 0, 0);
|
|
printi(F("Error homing. Current position has been set as home.\n"));
|
|
}
|
|
}
|
|
break;
|
|
case INSTRUCTION_TOGGLE_HOMING:{
|
|
toggleAutoHoming();
|
|
}
|
|
break;
|
|
case INSTRUCTION_SET_PAN_HALL_OFFSET:{
|
|
hall_pan_offset_degrees = serialCommandValueFloat;
|
|
printi(F("Pan Hall offset: "), hall_pan_offset_degrees, 3, F("º\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_SET_TILT_HALL_OFFSET:{
|
|
hall_tilt_offset_degrees = serialCommandValueFloat;
|
|
printi(F("Tilt Hall offset: "), hall_tilt_offset_degrees, 3, F("º\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_INVERT_SLIDER:{
|
|
invertSliderDirection(serialCommandValueInt);
|
|
}
|
|
break;
|
|
case INSTRUCTION_INVERT_TILT:{
|
|
invertTiltDirection(serialCommandValueInt);
|
|
}
|
|
break;
|
|
case INSTRUCTION_INVERT_PAN:{
|
|
invertPanDirection(serialCommandValueInt);
|
|
}
|
|
break;
|
|
case INSTRUCTION_SAVE_TO_EEPROM:{
|
|
saveEEPROM();
|
|
printi(F("Saved to EEPROM.\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_ADD_POSITION:{
|
|
addPosition();
|
|
}
|
|
break;
|
|
case INSTRUCTION_STEP_FORWARD:{
|
|
moveToIndex(current_keyframe_index + 1);
|
|
printi(F("Index: "), current_keyframe_index, F("\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_STEP_BACKWARD:{
|
|
moveToIndex(current_keyframe_index - 1);
|
|
printi(F("Index: "), current_keyframe_index, F("\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_JUMP_TO_START:{
|
|
gotoFirstKeyframe();
|
|
printi(F("Index: "), current_keyframe_index, F("\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_JUMP_TO_END:{
|
|
gotoLastKeyframe();
|
|
printi(F("Index: "), current_keyframe_index, F("\n"));
|
|
}
|
|
break;
|
|
case INSTRUCTION_EDIT_ARRAY:{
|
|
editKeyframe();
|
|
}
|
|
break;
|
|
case INSTRUCTION_ADD_DELAY:{
|
|
addDelay(serialCommandValueInt);
|
|
}
|
|
break;
|
|
case INSTRUCTION_CLEAR_ARRAY:{
|
|
clearKeyframes();
|
|
}
|
|
break;
|
|
case INSTRUCTION_EXECUTE_MOVES:{
|
|
executeMoves(serialCommandValueInt);
|
|
}
|
|
break;
|
|
// case INSTRUCTION_PAN_RUN_SPEED:{
|
|
// stepper_pan.setSpeed(panDegreesToSteps(serialCommandValueFloat));
|
|
// stepper_pan.runSpeed();
|
|
// }
|
|
// break;
|
|
// case INSTRUCTION_TILT_RUN_SPEED:{
|
|
// stepper_tilt.setSpeed(tiltDegreesToSteps(serialCommandValueFloat));
|
|
// stepper_tilt.runSpeed();
|
|
// }
|
|
// break;
|
|
case INSTRUCTION_DEBUG_STATUS:{
|
|
debugReport();
|
|
}
|
|
break;
|
|
case INSTRUCTION_PAN_DEGREES:{
|
|
panJogDegrees(serialCommandValueFloat);
|
|
}
|
|
break;
|
|
case INSTRUCTION_TILT_DEGREES:{
|
|
tiltJogDegrees(serialCommandValueFloat);
|
|
}
|
|
break;
|
|
case INSTRUCTION_SET_HOME:{
|
|
setTargetPositions(0, 0, 0);
|
|
stepper_pan.setCurrentPosition(0);
|
|
stepper_tilt.setCurrentPosition(0);
|
|
stepper_slider.setCurrentPosition(0);
|
|
}
|
|
break;
|
|
case INSTRUCTION_ENABLE:{
|
|
enableSteppers();
|
|
}
|
|
break;
|
|
case INSTRUCTION_STEP_MODE:{
|
|
setStepMode(serialCommandValueInt);
|
|
}
|
|
break;
|
|
case INSTRUCTION_SET_PAN_SPEED:{
|
|
printi("Max pan speed: ", serialCommandValueFloat, 1, " º/s.\n");
|
|
pan_max_speed = serialCommandValueFloat;
|
|
stepper_pan.setMaxSpeed(panDegreesToSteps(pan_max_speed));
|
|
}
|
|
break;
|
|
case INSTRUCTION_SET_TILT_SPEED:{
|
|
printi("Max tilt speed: ", serialCommandValueFloat, 1, " º/s.\n");
|
|
tilt_max_speed = serialCommandValueFloat;
|
|
stepper_tilt.setMaxSpeed(tiltDegreesToSteps(tilt_max_speed));
|
|
}
|
|
break;
|
|
case INSTRUCTION_SET_SLIDER_SPEED:{
|
|
printi("Max slider speed: ", serialCommandValueFloat, 1, " mm/s.\n");
|
|
slider_max_speed = serialCommandValueFloat;
|
|
stepper_slider.setMaxSpeed(sliderMillimetresToSteps(slider_max_speed));
|
|
}
|
|
break;
|
|
case INSTRUCTION_ORIBIT_POINT:{
|
|
if(calculateTargetCoordinate()){
|
|
printi("Target coordinates: \nx: ", intercept.x, 3, " mm\n");
|
|
printi("y: ", intercept.y, 3, " mm\n");
|
|
printi("z: ", intercept.z, 3, " mm\n");
|
|
interpolateTargetPoint(intercept, serialCommandValueInt);
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|
|
|
|
void mainLoop(void){
|
|
while(1){
|
|
if(Serial.available()) serialData();
|
|
multi_stepper.run();
|
|
}
|
|
}
|
|
|
|
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
|