Radar

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.
The example code is now working to show the concept.

Description

Radar is a concept library (not elaborated) that implements a Ping))) based Radar with the use of two pan and tilt servo's. It was written after a question on the Arduino forum but never finished or tested it. 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 therefore which distance belongs to which pair of angles.

Note: no active development.

Interface

Constructor and config

RADAR(pan, tilt) define pan / tilt pins of the radar. These should be PWM pins.

Note: no valid range checking or negative value check.

void setPanPerSecond(float pps)
float getPanPerSecond()
void setTiltPerSecond(float tps)
float getTiltPerSecond()

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()
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 position

bool isMoving()
bool isPanMoving()
bool isTiltMoving()

Operation

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?

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