mirror of
https://github.com/RobTillaart/Arduino.git
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99 lines
1.8 KiB
C++
99 lines
1.8 KiB
C++
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//
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// FILE: radar.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.1.00
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// PURPOSE: pan tilt radar framework
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// URL:
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//
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// Released to the public domain
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//
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#include "radar.h"
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////////////////////////////////////////////////////////////
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//
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// CONSTRUCTOR
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//
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RADAR::RADAR(int pinPan, int pinTilt)
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{
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_pinPan = pinPan;
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_pinTilt = pinTilt;
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}
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// PUBLIC
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void RADAR::setPan(int pan)
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{
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_prevPan = _pan; // remember last postion // TODO should in fact be getPan() to get current position.
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_pan = pan;
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digitalWrite(_pinPan, pan);
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_lastPanTime = millis();
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}
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int RADAR::getPan()
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{
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// ESTIMATE current pan on time it takes to go from _prevPan to _pan
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// and the time since setPan ==> millis() - _lastPanTime
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//
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// TODO CHECK MATH
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unsigned long duration = millis() - lastPanTime;
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int pan = 0;
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if (duration >= abs(_pan - _prevPan) * PAN_PER_SEC/1000) pan = _pan;
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else if (_pan > _prevpan) pan = _pan - duration * PAN_PER_SEC/1000;
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else pan = _pan - duration * PAN_PER_SEC/1000;
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return pan;
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}
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void RADAR::setTilt(int tilt)
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{
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_prevTilt = _tilt;
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_tilt = tilt;
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digitalWrite(_pinTilt, tilt);
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_lastTiltTime = millis();
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}
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int RADAR::getTilt()
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{
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// TODO see pan
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return 0;
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}
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// TODO extend this to an array of 10 memory positions
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void setHomePosition(int pan, int tilt)
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{
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_homePan = pan;
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_homeTilt = tilt;
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}
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void home()
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{
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setPan(_homePan);
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setTilt(_homeTilt);
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}
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bool RADAR::ready()
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{
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return ((getPan() == _pan) && (getTilt == _tilt));
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}
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unsigned long RADAR::ping()
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{
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// TODO ping code here - playground or teckel's improved ping)))
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return 0;
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}
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unsigned long RADAR::ping(int pan, int tilt)
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{
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setPan(pan);
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setTilt(tilt);
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while (!ready());
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return ping();
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}
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// PRIVATE
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// TODO distill private parts (getPan and getTilt share a lot
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// -- END OF FILE --
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