0.1.7 RADAR

libraries/Radar/.arduino-ci.yml

@@ -1,5 +1,21 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
 compile:
   # Choosing to run compilation tests on 2 different Arduino platforms
+  #  selected only those that work
   platforms:
     - uno
     # - due
@@ -7,5 +23,6 @@ compile:
     # - leonardo
     - m4
     - esp32
-    # - esp8266
+    - esp8266
     # - mega2560
+    - rpipico

libraries/Radar/CHANGELOG.md

@@ -0,0 +1,42 @@
+# Change Log Radar
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+
+## [0.1.7] - 2022-11-23
+- add changelog.md
+- add RP2040 to build-CI
+- fix keywords.txt
+- minor edit readme.md
+- minor edit unit test
+
+
+## [0.1.6] - 2021-12-27
+- update library.json
+- update readme.md
+- update license
+- minor edits
+
+## [0.1.5] - 2021-05-27
+- fix Arduino-lint
+
+## [0.1.4] - 2021-01-07
+- Arduino-CI, unit-test
+
+## [0.1.3] - 2020-07-06
+- refactor
+- clean up
+- documentation
+
+## [0.1.2] - 2017-07-16
+- refactor & review
+
+## [0.1.01] - 2015-03-06
+- updated some code, still not functional
+
+## [0.1.00] - 2013-09-30  (oldest version found ?)
+- outline the idea
+

libraries/Radar/keywords.txt

@@ -1,9 +1,8 @@
-# Syntax Colouring Map for runningAngle
+# Syntax Colouring Map for RADAR
 
 
 # Data types (KEYWORD1)
-runningAngle	KEYWORD1
-AngleType	KEYWORD1
+RADAR	KEYWORD1
 
 
 # Methods and Functions (KEYWORD2)

libraries/Radar/library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/RADAR"
   },
-  "version": "0.1.6",
+  "version": "0.1.7",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*",

libraries/Radar/library.properties

@@ -1,5 +1,5 @@
 name=RADAR
-version=0.1.6
+version=0.1.7
 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

@@ -1,18 +1,10 @@
 //
 //    FILE: radar.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.6
+// VERSION: 0.1.7
 // 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
-//  0.1.5   2021-05-27  fix Arduino-lint
-//  0.1.6   2021-12-27  Update library.json, readme, license, minor edits
+
 
 
 #include "radar.h"
@@ -20,7 +12,7 @@
 
 ////////////////////////////////////////////////////////////
 //
-// CONSTRUCTOR
+//  CONSTRUCTOR
 //
 RADAR::RADAR(const uint8_t pinPan, const uint8_t pinTilt)
 {
@@ -41,7 +33,10 @@ RADAR::RADAR(const uint8_t pinPan, const uint8_t pinTilt)
 }
 
 
-// PUBLIC
+////////////////////////////////////////////////////////////
+//
+//  PUBLIC
+//
 void RADAR::gotoPan(const int16_t pan)
 {
   if (pan == _pan) return;
@@ -54,15 +49,15 @@ void RADAR::gotoPan(const int16_t pan)
 
 int16_t RADAR::getPan()
 {
-  // ESTIMATE current position on time it takes to go from previous to new
+  //  ESTIMATE current position on time it takes to go from previous to new
   if (_pan == _prevPan) return _pan;
 
-  // if (enough time passed to move to new position) return new position
+  //  if (enough time passed to move to new position) return new position
   uint32_t duration = millis() - _lastPanTime;
   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;
 }
@@ -74,22 +69,22 @@ void RADAR::gotoTilt(const int16_t tilt)
 
   _prevTilt = getTilt();
   _tilt = tilt;
-  analogWrite(_pinTilt, _tilt);  // 0..180
+  analogWrite(_pinTilt, _tilt);  //  0..180
   _lastTiltTime = millis();
 }
 
 
 int16_t RADAR::getTilt()
 {
-  // ESTIMATE current position on time it takes to go from previous to new
+  //  ESTIMATE current position on time it takes to go from previous to new
   if (_tilt == _prevTilt) return _tilt;
 
-  // if (enough time passed to move to new position) return new position
+  //  if (enough time passed to move to new position) return new position
   uint32_t duration = millis() - _lastTiltTime;
   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;
   return _prevTilt - movement;
 }
@@ -145,7 +140,7 @@ void RADAR::gotoHomePosition()
 
 uint32_t RADAR::ping()
 {
-  // TODO ping code here - playground or teckel's improved ping)))
+  //  TODO ping code here - playground or teckel's improved ping))) ?
   return 0;
 }
 
@@ -157,10 +152,16 @@ uint32_t RADAR::ping(const int16_t pan, const int16_t tilt)
   while (isMoving());
   return ping();
 }
-// PRIVATE
+
+
+////////////////////////////////////////////////////////////
+//
+//  PRIVATE
+//
 
 // TODO distil private parts (getPan and getTilt share a lot
 
 
-// -- END OF FILE --
+
+//  -- END OF FILE --
 

libraries/Radar/radar.h

@@ -2,7 +2,7 @@
 //
 //    FILE: radar.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.6
+// VERSION: 0.1.7
 // PURPOSE: Arduino library for a pan tilt radar.
 //     URL: https://github.com/RobTillaart/RADAR
 
@@ -10,10 +10,10 @@
 #include "Arduino.h"
 
 
-#define RADAR_LIB_VERSION         (F("0.1.6"))
+#define RADAR_LIB_VERSION         (F("0.1.7"))
 
 
-// TODO # positions in a begin() or constructor?
+//  TODO # positions in a begin() or constructor?
 #ifndef RADAR_POSITIONS
 #define RADAR_POSITIONS           10
 #endif
@@ -22,57 +22,63 @@
 class RADAR
 {
 public:
-    RADAR(const uint8_t pinPan, const uint8_t pinTilt);
+  RADAR(const uint8_t pinPan, const uint8_t pinTilt);
 
-    // no valid range checking or negative value check.
-    void     setPanPerSecond(float pps)  { _panPerSecond = pps; };
-    float    getPanPerSecond()           { return _panPerSecond; };
-    void     setTiltPerSecond(float tps) { _tiltPerSecond = tps; };
-    float    getTiltPerSecond()          { return _tiltPerSecond; };
 
-    // basic moves
-    void     gotoPan(const int16_t pan);
-    int16_t  getPan();
-    void     gotoTilt(const int16_t tilt);
-    int16_t  getTilt();
-    void     gotoPanTilt(const int16_t pan, const int16_t tilt);
+  //  no valid range checking or negative value check.
+  void     setPanPerSecond(float pps)  { _panPerSecond = pps; };
+  float    getPanPerSecond()           { return _panPerSecond; };
+  void     setTiltPerSecond(float tps) { _tiltPerSecond = tps; };
+  float    getTiltPerSecond()          { return _tiltPerSecond; };
 
-    // memory positions - store / recall?
-    uint8_t  getMaxPositions()            { return RADAR_POSITIONS; };
-    bool     setPosition(const uint8_t index, const int16_t pan, const int16_t tilt);
-    bool     getPosition(const uint8_t index, int16_t & pan, int16_t & tilt);
-    bool     gotoPosition(const uint8_t index);
-    void     setHomePosition(const int16_t pan, const int16_t tilt);
-    void     gotoHomePosition();
 
-    // feedback on positions.
-    bool     isMoving()     { return isPanMoving() || isTiltMoving(); };
-    bool     isPanMoving()  { return getPan() != _pan; };
-    bool     isTiltMoving() { return getTilt() != _tilt; };
+  //  basic moves
+  void     gotoPan(const int16_t pan);
+  int16_t  getPan();
+  void     gotoTilt(const int16_t tilt);
+  int16_t  getTilt();
+  void     gotoPanTilt(const int16_t pan, const int16_t tilt);
+
+
+  //  memory positions - store / recall?
+  uint8_t  getMaxPositions()            { return RADAR_POSITIONS; };
+  bool     setPosition(const uint8_t index, const int16_t pan, const int16_t tilt);
+  bool     getPosition(const uint8_t index, int16_t & pan, int16_t & tilt);
+  bool     gotoPosition(const uint8_t index);
+  void     setHomePosition(const int16_t pan, const int16_t tilt);
+  void     gotoHomePosition();
+
+
+  //  feedback on positions.
+  bool     isMoving()     { return isPanMoving() || isTiltMoving(); };
+  bool     isPanMoving()  { return getPan() != _pan; };
+  bool     isTiltMoving() { return getTilt() != _tilt; };
+
+
+  //  TODO NIY
+  uint32_t ping();
+  uint32_t ping(const int16_t pan, const int16_t tilt);
 
-    // 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  _pinPan;
+  int16_t  _pinTilt;
 
-    int16_t  _prevPan;
-    int16_t  _pan;
-    int16_t  _homePan;
-    uint32_t _lastPanTime;
+  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  _prevTilt;
+  int16_t  _tilt;
+  int16_t  _homeTilt;
+  uint32_t _lastTiltTime;
 
-    int16_t  _panArray[RADAR_POSITIONS];
-    int16_t  _tiltArray[RADAR_POSITIONS];
+  int16_t  _panArray[RADAR_POSITIONS];
+  int16_t  _tiltArray[RADAR_POSITIONS];
 
-    float    _panPerSecond = 15;
-    float    _tiltPerSecond = 15;
+  float    _panPerSecond = 15;
+  float    _tiltPerSecond = 15;
 };
 
 

libraries/Radar/readme.md

@@ -14,7 +14,7 @@ Arduino library for a pan tilt radar based upon 2 servo's.
 ## Warning
 
 **WARNING: not extensively tested**
-There are still 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.
 
 
@@ -32,14 +32,11 @@ From that number and the start moment one can determine approximately its positi
 Given its position while moving is interesting for radar purposes as one can determine e.g.
 in which direction a ping is given and therefore which distance belongs to which pair of angles.
 
-Note: no active development 
+Note: no active development.
 
 
 ## Interface
 
-TODO elaborate
-
-
 ### Constructor and config
 
 - **RADAR(pan, tilt)** define pan / tilt pins of the radar. These should be PWM pins.
@@ -60,7 +57,7 @@ Note: no valid range checking or negative value check.
 - **void gotoPanTilt(const int16_t pan, const int16_t tilt)**
 
 
-### memory positions - store / recall?
+### memory positions - store / recall
 
 - **uint8_t getMaxPositions()**
 - **bool setPosition(const uint8_t index, const int16_t pan, const int16_t tilt)**
@@ -70,7 +67,7 @@ Note: no valid range checking or negative value check.
 - **void gotoHomePosition()**
 
 
-### feedback on positions.
+### feedback on position
 
 - **bool isMoving()**
 - **bool isPanMoving()**
@@ -84,12 +81,21 @@ See examples
 
 ## Future
 
+#### must
+- build the thing when time permits!
 - improve documentation.
+
+#### should
 - test more (e.g. continuous servo versus 180 servo).
 - add sketches.
 - remember lastPing (angle pan tilt).
 - check TODO's in code.
+- move code from .h to .cpp
+
+
+#### could
 - single servo radar (Pan only) as derived class.
 - dynamic allocation of position arrays.
+- store positions in EEPROM/FRAM for reboot?
 
 

libraries/Radar/test/unit_test_001.cpp

@@ -46,18 +46,11 @@ unittest_teardown()
 {
 }
 
-/*
-unittest(test_new_operator)
-{
-  assertEqualINF(exp(800));
-  assertEqualINF(0.0/0.0);
-  assertEqualINF(42);
 
-  assertEqualNAN(INFINITY - INFINITY);
-  assertEqualNAN(0.0/0.0);
-  assertEqualNAN(42);
+unittest(test_constants)
+{
+  assertEqual(10, RADAR_POSITIONS);
 }
-*/
 
 
 unittest(test_constructor)