+ initial version (not working yet)

libraries/Radar/radar.cpp

@@ -0,0 +1,99 @@
+//
+//    FILE: radar.cpp
+//  AUTHOR: Rob Tillaart
+// VERSION: 0.1.00
+// PURPOSE: pan tilt radar framework
+//     URL:
+//
+// Released to the public domain
+//
+
+#include "radar.h"
+
+////////////////////////////////////////////////////////////
+//
+// CONSTRUCTOR
+//
+RADAR::RADAR(int pinPan, int pinTilt)
+{
+    _pinPan = pinPan;
+    _pinTilt = pinTilt;
+}
+
+// PUBLIC
+void RADAR::setPan(int pan)
+{
+    _prevPan = _pan;  // remember last postion // TODO should in fact be getPan() to get current position.
+    _pan = pan;
+    digitalWrite(_pinPan, pan);
+    _lastPanTime = millis();
+}
+
+int RADAR::getPan()
+{
+    // ESTIMATE current pan on time it takes to go from _prevPan to _pan
+    // and the time since setPan ==> millis() - _lastPanTime
+    // 
+    // TODO CHECK MATH 
+
+    unsigned long duration = millis() - lastPanTime;
+
+    int pan = 0;
+
+    if (duration >= abs(_pan - _prevPan) * PAN_PER_SEC/1000) pan = _pan;
+    else if (_pan > _prevpan) pan = _pan - duration * PAN_PER_SEC/1000;
+    else pan = _pan - duration * PAN_PER_SEC/1000;
+
+    return pan;
+}
+
+void RADAR::setTilt(int tilt)
+{
+    _prevTilt = _tilt;
+    _tilt = tilt;
+    digitalWrite(_pinTilt, tilt);
+    _lastTiltTime = millis();
+}
+
+int RADAR::getTilt()
+{
+    // TODO see pan
+    return 0;
+}
+
+// TODO extend this to an array of 10 memory positions
+void setHomePosition(int pan, int tilt)
+{
+    _homePan = pan;
+    _homeTilt = tilt;
+}
+
+void home()
+{
+    setPan(_homePan);
+    setTilt(_homeTilt);
+}
+
+bool RADAR::ready()
+{
+    return ((getPan() == _pan) && (getTilt == _tilt));
+}
+
+unsigned long RADAR::ping()
+{
+  // TODO ping code here - playground or teckel's improved ping)))
+  return 0;
+}
+
+unsigned long RADAR::ping(int pan, int tilt)
+{
+  setPan(pan);
+  setTilt(tilt);
+  while (!ready());
+  return ping();
+}
+// PRIVATE
+
+// TODO distill private parts (getPan and getTilt share a lot
+
+// -- END OF FILE --

libraries/Radar/radar.h

@@ -0,0 +1,61 @@
+//
+//    FILE: radar.h
+//  AUTHOR: Rob Tillaart
+// VERSION: see RADAR_LIB_VERSION
+// PURPOSE: pan tilt radar framework
+//     URL:
+//
+// Released to the public domain
+//
+
+#ifndef Radar_h
+#define Radar_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+  #include "Arduino.h"
+  #include "SoftwareSerial.h"
+#else
+  #include "WProgram.h"
+  #include "NewSoftSerial.h"
+#endif
+
+#define RADAR_LIB_VERSION "0.1.00"
+
+#define PAN_PER_SEC     20      // TODO determine emperically
+#define TILT_PER_SEC    10      // TODO determine emperically
+
+class RADAR
+{
+  public:
+    RADAR(int, int);
+
+    void setPan(int pan);
+    int getPan();
+    void setTilt(int tilt);
+    int getTilt();
+
+    void setHomePosition(int pan, int tilt);
+    void home();
+
+    bool ready();
+
+    unsigned long ping();
+    unsigned long ping(int pan, int tilt);
+    
+  private:
+    int _pinPan;
+    int _pinTilt;
+    
+    int _prevPan;
+    int _pan;
+    int _homePan;
+    unsigned long _lastPanTime 
+    
+    int _prevTilt;
+    int _tilt;
+    int _homeTilt;
+    unsigned long _lastTiltTime 
+};
+
+#endif
+// -- END OF FILE --

libraries/Radar/readme.txt

@@ -0,0 +1,12 @@
+
+WARNING: not working version !!!
+
+radar is a concept library not elaborated yet that implements a Ping))) based Radar
+with the use of a pan/tilt servo's. Was written after a question on the forum but 
+never finished it. Still, it has some interesting concepts wrt determine the position of 
+pan/tilt while in progress. 
+
+In short a lot todo
+
+
+