mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
86 lines
2.0 KiB
C++
86 lines
2.0 KiB
C++
#pragma once
|
|
//
|
|
// FILE: radar.h
|
|
// AUTHOR: Rob Tillaart
|
|
// VERSION: 0.1.7
|
|
// PURPOSE: Arduino library for a pan tilt radar.
|
|
// URL: https://github.com/RobTillaart/RADAR
|
|
|
|
|
|
#include "Arduino.h"
|
|
|
|
|
|
#define RADAR_LIB_VERSION (F("0.1.7"))
|
|
|
|
|
|
// TODO # positions in a begin() or constructor?
|
|
#ifndef RADAR_POSITIONS
|
|
#define RADAR_POSITIONS 10
|
|
#endif
|
|
|
|
|
|
class RADAR
|
|
{
|
|
public:
|
|
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);
|
|
|
|
|
|
// 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);
|
|
|
|
|
|
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];
|
|
|
|
float _panPerSecond = 15;
|
|
float _tiltPerSecond = 15;
|
|
};
|
|
|
|
|
|
// -- END OF FILE --
|