Diff: camera_platform.h

Revision:

0:3417ca0a36c0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/camera_platform.h	Tue Jul 01 10:59:33 2014 +0000
@@ -0,0 +1,98 @@
+/******************************************************
+
+****┏┓          ┏┓
+**┏┛┻━━━━━━┛┻┓
+**┃                 ┃
+**┃      ━━━      ┃
+**┃  ┳┛       ┗┳ ┃
+**┃                 ┃
+**┃ '''    ┻   ''' ┃
+**┃                 ┃
+**┗━━┓       ┏━━┛
+*******┃       ┃
+*******┃       ┃
+*******┃       ┃
+*******┃       ┗━━━━━━━━┓
+*******┃                      ┃━┓
+*******┃      NO BUG          ┏━┛
+*******┃                      ┃
+*******┗━┓  ┓  ┏━┏━┓  ━┛
+***********┃  ┛  ┛    ┃  ┛  ┛
+***********┃  ┃  ┃    ┃  ┃  ┃
+***********┗━┛━┛     ┗━┛━┛
+
+This part is added by project ESDC2014 of CUHK team.
+All the code with this header are under GPL open source license.
+This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
+**********************************************************/
+#include "mbed.h"
+#include "define.h"
+
+#ifndef _CAMERA_PLATFORM_H
+#define _CAMERA_PLATFORM_H
+
+/*
+PwmOut camera_platform_pwmRoll(p24);
+PwmOut camera_platform_pwmPitch(p26);
+PwmOut camera_platform_pwmYaw(p25);
+*/
+
+#define ROLL_MID 1500
+#define ROLL_LOW 1000
+#define ROLL_HIGH 2000
+#define ROLL_ANGLE_MAX 90
+#define ROLL_ANGLE_MIN -90
+#define ROLL_USPD (2000-1500)/180
+
+#define PITCH_MID 1500
+#define PITCH_LOW 1300
+#define PITCH_HIGH 2200
+#define PITCH_ANGLE_MAX 90
+#define PITCH_ANGLE_MIN -25
+#define PITCH_USPD (2200-1300)/115
+
+#define YAW_MID 1400
+#define YAW_LOW 600
+#define YAW_HIGH 2200
+#define YAW_ANGLE_MAX 90
+#define YAW_ANGLE_MIN -90
+#define YAW_USPD (2200-600)/180 //us per degree => 500/90
+
+#define ROLL 0
+#define PITCH 1
+#define YAW 2
+
+class Camera_platform
+{
+public:
+    Camera_platform(MyPwmOut* _pwmRoll, MyPwmOut* _pwmPitch, MyPwmOut* _pwmYaw);
+    ~Camera_platform();
+    
+    void cameraPlatformMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir);
+    
+    void setRollLeft(float _degree);
+    void setRollRight(float _degree);
+    void setPitchUp(float _degree);
+    void setPitchDown(float _degree);
+    void setYawClock(float _degree);
+    void setYawCClock(float _degree);
+    
+    void resetCameraPlatform();
+    
+    uint8_t dir;
+    uint8_t angle;
+    
+private:
+    MyPwmOut* _pwmRoll;
+    MyPwmOut* _pwmPitch;
+    MyPwmOut* _pwmYaw;
+    
+    float _roll_angle; //record the current roll angle. need to divide 100 to convert to degree
+    float _pitch_angle; //record the current pitch angle. need to divide 100 to convert to degree
+    float _yaw_angle; //record the current yaw angle. need to divide 100 to convert to degree
+    
+    void setPWM(uint16_t _pwm_value_us, uint8_t _pwm_channel); //0 is roll, 1 is pitch, 2 is yaw
+    uint16_t computePwmValue(float _degree, uint8_t _dir, uint8_t _pwm_channel); //0 is left/up/clock, 1 is right/down/cclock
+};
+
+#endif
\ No newline at end of file