mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
68 lines
1.3 KiB
C++
68 lines
1.3 KiB
C++
//
|
|
// 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"
|
|
#else
|
|
#include "WProgram.h"
|
|
#endif
|
|
|
|
#define RADAR_LIB_VERSION "0.1.01"
|
|
|
|
#define PAN_PER_SEC 25 // TODO determine emperically
|
|
#define TILT_PER_SEC 25 // TODO determine emperically
|
|
|
|
class RADAR
|
|
{
|
|
public:
|
|
RADAR(uint8_t, uint8_t);
|
|
|
|
void gotoPan(int pan);
|
|
int getPan();
|
|
void gotoTilt(int tilt);
|
|
int getTilt();
|
|
void gotoPanTilt(int pan, int tilt);
|
|
|
|
// memory positions
|
|
void setPosition(uint8_t idx, int pan, int tilt);
|
|
bool getPosition(uint8_t idx, int *pan, int *tilt);
|
|
bool gotoPosition(uint8_t idx);
|
|
void setHomePosition(int pan, int tilt);
|
|
void gotoHomePosition();
|
|
|
|
//
|
|
bool isMoving();
|
|
|
|
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;
|
|
|
|
int _parray[10];
|
|
int _tarry[10];
|
|
};
|
|
|
|
#endif
|
|
// -- END OF FILE --
|