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https://github.com/RobTillaart/Arduino.git
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80 lines
2.1 KiB
C++
80 lines
2.1 KiB
C++
#pragma once
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//
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// FILE: radar.h
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// AUTHOR: Rob Tillaart
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// VERSION: see RADAR_LIB_VERSION
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// PURPOSE: Arduino library for a pan tilt radar.
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// URL: https://github.com/RobTillaart/RADAR
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#include "Arduino.h"
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#define RADAR_LIB_VERSION (F("0.1.5"))
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// TODO # positions in a begin() or constructor?
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#ifndef RADAR_POSITIONS
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#define RADAR_POSITIONS 10
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#endif
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class RADAR
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{
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public:
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RADAR(const uint8_t pinPan, const uint8_t pinTilt);
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// no valid range checking or negative value check.
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void setPanPerSecond(float pps) { _panPerSecond = pps; };
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float getPanPerSecond() { return _panPerSecond; };
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void setTiltPerSecond(float tps) { _tiltPerSecond = tps; };
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float getTiltPerSecond() { return _tiltPerSecond; };
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// basic moves
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void gotoPan(const int16_t pan);
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int16_t getPan();
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void gotoTilt(const int16_t tilt);
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int16_t getTilt();
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void gotoPanTilt(const int16_t pan, const int16_t tilt);
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// memory positions - store / recall?
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uint8_t getMaxPositions() { return RADAR_POSITIONS; };
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bool setPosition(const uint8_t idx, const int16_t pan, const int16_t tilt);
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bool getPosition(const uint8_t idx, int16_t & pan, int16_t & tilt);
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bool gotoPosition(const uint8_t idx);
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void setHomePosition(const int16_t pan, const int16_t tilt);
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void gotoHomePosition();
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// feedback on positions.
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bool isMoving() { return isPanMoving() || isTiltMoving(); };
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bool isPanMoving() { return getPan() != _pan; };
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bool isTiltMoving() { return getTilt() != _tilt; };
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// TODO NIY
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uint32_t ping();
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uint32_t ping(const int16_t pan, const int16_t tilt);
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private:
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int16_t _pinPan;
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int16_t _pinTilt;
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int16_t _prevPan;
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int16_t _pan;
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int16_t _homePan;
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uint32_t _lastPanTime;
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int16_t _prevTilt;
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int16_t _tilt;
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int16_t _homeTilt;
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uint32_t _lastTiltTime;
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int16_t _panArray[RADAR_POSITIONS];
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int16_t _tiltArray[RADAR_POSITIONS];
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float _panPerSecond = 15;
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float _tiltPerSecond = 15;
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};
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// -- END OF FILE --
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