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102 lines
3.1 KiB
Markdown
102 lines
3.1 KiB
Markdown
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[](https://github.com/marketplace/actions/arduino_ci)
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[](https://github.com/RobTillaart/RADAR/actions/workflows/arduino-lint.yml)
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[](https://github.com/RobTillaart/RADAR/actions/workflows/jsoncheck.yml)
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[](https://github.com/RobTillaart/Radar/blob/master/LICENSE)
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[](https://github.com/RobTillaart/Radar/releases)
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# Radar
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Arduino library for a pan tilt radar based upon 2 servo's.
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## Warning
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**WARNING: not extensively tested**
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There are still a lot of things to be tested.
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The example code is now working to show the concept.
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## Description
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Radar is a concept library (not elaborated) that implements a Ping))) based Radar
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with the use of two pan and tilt servo's.
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It was written after a question on the Arduino forum but never finished or tested it.
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Still, it has some interesting concepts with respect to how to determine the position
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of pan/tilt while the movements are in progress.
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The idea is that one knows how fast the pan and tilt servos are working in degrees per second.
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From that number and the start moment one can determine approximately its position.
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Given its position while moving is interesting for radar purposes as one can determine e.g.
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in which direction a ping is given and therefore which distance belongs to which pair of angles.
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Note: no active development.
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## Interface
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### Constructor and config
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- **RADAR(pan, tilt)** define pan / tilt pins of the radar. These should be PWM pins.
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Note: no valid range checking or negative value check.
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- **void setPanPerSecond(float pps)**
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- **float getPanPerSecond()**
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- **void setTiltPerSecond(float tps)**
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- **float getTiltPerSecond()**
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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()**
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- **bool setPosition(const uint8_t index, const int16_t pan, const int16_t tilt)**
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- **bool getPosition(const uint8_t index, int16_t & pan, int16_t & tilt)**
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- **bool gotoPosition(const uint8_t index)**
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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 position
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- **bool isMoving()**
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- **bool isPanMoving()**
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- **bool isTiltMoving()**
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## Operation
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See examples
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## Future
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#### must
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- build the thing when time permits!
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- improve documentation.
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#### should
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- test more (e.g. continuous servo versus 180 servo).
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- add sketches.
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- remember lastPing (angle pan tilt).
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- check TODO's in code.
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- move code from .h to .cpp
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#### could
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- single servo radar (Pan only) as derived class.
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- dynamic allocation of position arrays.
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- store positions in EEPROM/FRAM for reboot?
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