0.1.6 Radar

libraries/Radar/.arduino-ci.yml

@@ -2,6 +2,10 @@ compile:
   # Choosing to run compilation tests on 2 different Arduino platforms
   platforms:
     - uno
-    - leonardo
+    # - due
-    - due
+    # - zero
-    - zero
+    # - leonardo
+    - m4
+    - esp32
+    # - esp8266
+    # - mega2560

libraries/Radar/.github/workflows/arduino_test_runner.yml

@@ -4,10 +4,14 @@ name: Arduino CI
 on: [push, pull_request]
 
 jobs:
-  arduino_ci:
+  runTest:
     runs-on: ubuntu-latest
 
     steps:
       - uses: actions/checkout@v2
-      - uses: Arduino-CI/action@master
+      - uses: ruby/setup-ruby@v1
-          #   Arduino-CI/action@v0.1.1
+        with:
+          ruby-version: 2.6
+      - run: |
+          gem install arduino_ci
+          arduino_ci.rb

libraries/Radar/LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2013-2021 Rob Tillaart
+Copyright (c) 2013-2022 Rob Tillaart
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

libraries/Radar/examples/radarDemo/radarDemo.ino

@@ -1,7 +1,6 @@
 //
 //    FILE: radarDemo.ino
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.1
 // PURPOSE: demo of the radar library
 //    DATE: 29-03-2015
 //     URL: https://github.com/RobTillaart/RADAR

libraries/Radar/keywords.txt

@@ -1,7 +1,7 @@
-# Syntax Coloring Map for runningAngle
+# Syntax Colouring Map for runningAngle
 
 
-# Datatypes (KEYWORD1)
+# Data types (KEYWORD1)
 runningAngle	KEYWORD1
 AngleType	KEYWORD1
 

libraries/Radar/library.json

@@ -1,6 +1,6 @@
 {
   "name": "RADAR",
-  "keywords": "Pan,tilt,radar,ping",
+  "keywords": "Pan,tilt,radar,ping,position",
   "description": "Arduino library for a pan tilt radar. Experimental",
   "authors":
   [
@@ -15,8 +15,9 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/RADAR"
   },
-  "version": "0.1.5",
+  "version": "0.1.6",
   "license": "MIT",
   "frameworks": "arduino",
-  "platforms": "*"
+  "platforms": "*",
+  "headers": "radar.h"
 }

libraries/Radar/library.properties

@@ -1,5 +1,5 @@
 name=RADAR
-version=0.1.5
+version=0.1.6
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for a pan tilt radar. 

libraries/Radar/radar.cpp

@@ -1,16 +1,18 @@
 //
 //    FILE: radar.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.5
+// VERSION: 0.1.6
 // PURPOSE: Arduino library for a pan tilt radar.
 //     URL: https://github.com/RobTillaart/RADAR
 //
+//  HISTORY
 //  0.1.00  2013-09-30  (?) outline
 //  0.1.01  2015-03-06  updated some code, still not functional
 //  0.1.2   2017-07-16  refactor & review
 //  0.1.3   2020-07-06  refactor, clean up and some documentation
-//  0.1.4   2021-01-07  arduino-ci, unit-test
+//  0.1.4   2021-01-07  Arduino-CI, unit-test
-//  0.1.5   2021-05-27  fix arduino-lint
+//  0.1.5   2021-05-27  fix Arduino-lint
+//  0.1.6   2021-12-27  Update library.json, readme, license, minor edits
 
 
 #include "radar.h"
@@ -60,7 +62,7 @@ int16_t RADAR::getPan()
   uint32_t movement = round(duration * _panPerSecond * 0.001);
   if ( abs(_pan - _prevPan) <= movement) return _pan;
 
-  // else estimate PAN by linear interpolation 
+  // else estimate PAN by linear interpolation
   if (_pan > _prevPan) return _prevPan + movement;
   return _prevPan - movement;
 }
@@ -87,8 +89,8 @@ int16_t RADAR::getTilt()
   uint32_t movement = round(duration * _tiltPerSecond * 0.001);
   if (abs(_tilt - _prevTilt) <= movement) return _tilt;
 
-  // estimate TILT by linear interpolation 
+  // estimate TILT by linear interpolation
-  if (_tilt > _prevTilt) return _prevTilt + movement;  
+  if (_tilt > _prevTilt) return _prevTilt + movement;
   return _prevTilt - movement;
 }
 
@@ -100,29 +102,29 @@ void RADAR::gotoPanTilt(const int16_t pan, const int16_t tilt)
 }
 
 
-bool RADAR::setPosition(const uint8_t n, const int16_t pan, const int16_t tilt)
+bool RADAR::setPosition(const uint8_t index, const int16_t pan, const int16_t tilt)
 {
-  if (n >= RADAR_POSITIONS) return false;
+  if (index >= RADAR_POSITIONS) return false;
-  _panArray[n] = pan;
+  _panArray[index] = pan;
-  _tiltArray[n] = tilt;
+  _tiltArray[index] = tilt;
   return true;
 }
 
 
-bool RADAR::getPosition(const uint8_t n, int16_t & pan, int16_t & tilt)
+bool RADAR::getPosition(const uint8_t index, int16_t & pan, int16_t & tilt)
 {
-  if (n >= RADAR_POSITIONS) return false;
+  if (index >= RADAR_POSITIONS) return false;
-  pan = _panArray[n];
+  pan = _panArray[index];
-  tilt = _tiltArray[n];
+  tilt = _tiltArray[index];
   return true;
 }
 
 
-bool RADAR::gotoPosition(const uint8_t n)
+bool RADAR::gotoPosition(const uint8_t index)
 {
-  if (n >= RADAR_POSITIONS) return false;
+  if (index >= RADAR_POSITIONS) return false;
-  gotoPan(_panArray[n]);
+  gotoPan(_panArray[index]);
-  gotoTilt(_tiltArray[n]);
+  gotoTilt(_tiltArray[index]);
   return true;
 }
 
@@ -157,7 +159,8 @@ uint32_t RADAR::ping(const int16_t pan, const int16_t tilt)
 }
 // PRIVATE
 
-// TODO distill private parts (getPan and getTilt share a lot
+// TODO distil private parts (getPan and getTilt share a lot
 
 
 // -- END OF FILE --
+

libraries/Radar/radar.h

@@ -2,7 +2,7 @@
 //
 //    FILE: radar.h
 //  AUTHOR: Rob Tillaart
-// VERSION: see RADAR_LIB_VERSION
+// VERSION: 0.1.6
 // PURPOSE: Arduino library for a pan tilt radar.
 //     URL: https://github.com/RobTillaart/RADAR
 
@@ -10,7 +10,7 @@
 #include "Arduino.h"
 
 
-#define RADAR_LIB_VERSION         (F("0.1.5"))
+#define RADAR_LIB_VERSION         (F("0.1.6"))
 
 
 // TODO # positions in a begin() or constructor?
@@ -39,9 +39,9 @@ public:
 
     // memory positions - store / recall?
     uint8_t  getMaxPositions()            { return RADAR_POSITIONS; };
-    bool     setPosition(const uint8_t idx, const int16_t pan, const int16_t tilt);
+    bool     setPosition(const uint8_t index, const int16_t pan, const int16_t tilt);
-    bool     getPosition(const uint8_t idx, int16_t & pan, int16_t & tilt);
+    bool     getPosition(const uint8_t index, int16_t & pan, int16_t & tilt);
-    bool     gotoPosition(const uint8_t idx);
+    bool     gotoPosition(const uint8_t index);
     void     setHomePosition(const int16_t pan, const int16_t tilt);
     void     gotoHomePosition();
 
@@ -53,21 +53,21 @@ public:
     // TODO NIY
     uint32_t ping();
     uint32_t ping(const int16_t pan, const int16_t tilt);
-    
+
 private:
     int16_t  _pinPan;
     int16_t  _pinTilt;
-    
+
     int16_t  _prevPan;
     int16_t  _pan;
     int16_t  _homePan;
     uint32_t _lastPanTime;
-    
+
     int16_t  _prevTilt;
     int16_t  _tilt;
     int16_t  _homeTilt;
     uint32_t _lastTiltTime;
-    
+
     int16_t  _panArray[RADAR_POSITIONS];
     int16_t  _tiltArray[RADAR_POSITIONS];
 

libraries/Radar/readme.md

@@ -1,8 +1,11 @@
 
 [![Arduino CI](https://github.com/RobTillaart/Radar/workflows/Arduino%20CI/badge.svg)](https://github.com/marketplace/actions/arduino_ci)
+[![Arduino-lint](https://github.com/RobTillaart/RADAR/actions/workflows/arduino-lint.yml/badge.svg)](https://github.com/RobTillaart/RADAR/actions/workflows/arduino-lint.yml)
+[![JSON check](https://github.com/RobTillaart/RADAR/actions/workflows/jsoncheck.yml/badge.svg)](https://github.com/RobTillaart/RADAR/actions/workflows/jsoncheck.yml)
 [![License: MIT](https://img.shields.io/badge/license-MIT-green.svg)](https://github.com/RobTillaart/Radar/blob/master/LICENSE)
 [![GitHub release](https://img.shields.io/github/release/RobTillaart/Radar.svg?maxAge=3600)](https://github.com/RobTillaart/Radar/releases)
 
+
 # Radar
 
 Arduino library for a pan tilt radar based upon 2 servo's.
@@ -11,22 +14,25 @@ Arduino library for a pan tilt radar based upon 2 servo's.
 ## Warning
 
 **WARNING: not extensively tested**
-There are stil a lot of things to be tested. 
+There are still a lot of things to be tested. 
 The example code is now working to show the concept.
 
 
 ## Description
 
-radar is a concept library not elaborated yet that implements a Ping))) based Radar
+Radar is a concept library (not elaborated) that implements a Ping))) based Radar
-with the use of two pan/tilt servo's. It was written after a question on the forum but 
+with the use of two pan and tilt servo's. 
-never finished or tested it. Still, it has some interesting concepts wrt determine 
+It was written after a question on the Arduino forum but never finished or tested it. 
-the position of pan/tilt while in progress. 
+Still, it has some interesting concepts with respect to how to determine the position 
+of pan/tilt while the movements are in progress. 
 
 The idea is that one knows how fast the pan and tilt servos are working in degrees per second.
 From that number and the start moment one can determine approximately its position. 
 
 Given its position while moving is interesting for radar purposes as one can determine e.g.
-in which direction a ping is given and which distance belongs to which pair of angles.
+in which direction a ping is given and therefore which distance belongs to which pair of angles.
+
+Note: no active development 
 
 
 ## Interface
@@ -57,9 +63,9 @@ Note: no valid range checking or negative value check.
 ### memory positions - store / recall?
 
 - **uint8_t getMaxPositions()**
-- **bool setPosition(const uint8_t idx, const int16_t pan, const int16_t tilt)**
+- **bool setPosition(const uint8_t index, const int16_t pan, const int16_t tilt)**
-- **bool getPosition(const uint8_t idx, int16_t & pan, int16_t & tilt)**
+- **bool getPosition(const uint8_t index, int16_t & pan, int16_t & tilt)**
-- **bool gotoPosition(const uint8_t idx)**
+- **bool gotoPosition(const uint8_t index)**
 - **void setHomePosition(const int16_t pan, const int16_t tilt)**
 - **void gotoHomePosition()**
 
@@ -76,3 +82,14 @@ Note: no valid range checking or negative value check.
 See examples
 
 
+## Future
+
+- improve documentation.
+- test more (e.g. continuous servo versus 180 servo).
+- add sketches.
+- remember lastPing (angle pan tilt).
+- check TODO's in code.
+- single servo radar (Pan only) as derived class.
+- dynamic allocation of position arrays.
+
+

libraries/Radar/test/unit_test_001.cpp

@@ -33,11 +33,12 @@
 #include <ArduinoUnitTests.h>
 
 
-#include "radar.h" 
+#include "radar.h"
 
 
 unittest_setup()
 {
+  fprintf(stderr, "RADAR_LIB_VERSION: %s\n", (char *) RADAR_LIB_VERSION);
 }
 
 
@@ -51,7 +52,7 @@ unittest(test_new_operator)
   assertEqualINF(exp(800));
   assertEqualINF(0.0/0.0);
   assertEqualINF(42);
-  
+
   assertEqualNAN(INFINITY - INFINITY);
   assertEqualNAN(0.0/0.0);
   assertEqualNAN(42);
@@ -61,8 +62,6 @@ unittest(test_new_operator)
 
 unittest(test_constructor)
 {
-  fprintf(stderr, "VERSION: %s\n", RADAR_LIB_VERSION);
-
   RADAR radar(10, 11);
 
   assertEqual(10, radar.getMaxPositions());