camera_platform.h

00001 /******************************************************
00002 
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00009 **┃ '''    ┻   ''' ┃
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00017 *******┃      NO BUG          ┏━┛
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00020 ***********┃  ┛  ┛    ┃  ┛  ┛
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00023 
00024 This part is added by project ESDC2014 of CUHK team.
00025 All the code with this header are under GPL open source license.
00026 This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
00027 **********************************************************/
00028 #include "mbed.h"
00029 #include "define.h"
00030 
00031 #ifndef _CAMERA_PLATFORM_H
00032 #define _CAMERA_PLATFORM_H
00033 
00034 /*
00035 PwmOut camera_platform_pwmRoll(p24);
00036 PwmOut camera_platform_pwmPitch(p26);
00037 PwmOut camera_platform_pwmYaw(p25);
00038 */
00039 
00040 #define ROLL_MID 1500
00041 #define ROLL_LOW 1000
00042 #define ROLL_HIGH 2000
00043 #define ROLL_ANGLE_MAX 90
00044 #define ROLL_ANGLE_MIN -90
00045 #define ROLL_USPD (2000-1500)/180
00046 
00047 #define PITCH_MID 1500
00048 #define PITCH_LOW 1300
00049 #define PITCH_HIGH 2200
00050 #define PITCH_ANGLE_MAX 90
00051 #define PITCH_ANGLE_MIN -25
00052 #define PITCH_USPD (2200-1300)/115
00053 
00054 #define YAW_MID 1400
00055 #define YAW_LOW 600
00056 #define YAW_HIGH 2200
00057 #define YAW_ANGLE_MAX 90
00058 #define YAW_ANGLE_MIN -90
00059 #define YAW_USPD (2200-600)/180 //us per degree => 500/90
00060 
00061 #define ROLL 0
00062 #define PITCH 1
00063 #define YAW 2
00064 
00065 class Camera_platform
00066 {
00067 public:
00068     Camera_platform(MyPwmOut* _pwmRoll, MyPwmOut* _pwmPitch, MyPwmOut* _pwmYaw);
00069     ~Camera_platform();
00070     
00071     void cameraPlatformMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir);
00072     
00073     void setRollLeft(float _degree);
00074     void setRollRight(float _degree);
00075     void setPitchUp(float _degree);
00076     void setPitchDown(float _degree);
00077     void setYawClock(float _degree);
00078     void setYawCClock(float _degree);
00079     
00080     void resetCameraPlatform();
00081     
00082     uint8_t dir;
00083     uint8_t angle;
00084     
00085 private:
00086     MyPwmOut* _pwmRoll;
00087     MyPwmOut* _pwmPitch;
00088     MyPwmOut* _pwmYaw;
00089     
00090     float _roll_angle; //record the current roll angle. need to divide 100 to convert to degree
00091     float _pitch_angle; //record the current pitch angle. need to divide 100 to convert to degree
00092     float _yaw_angle; //record the current yaw angle. need to divide 100 to convert to degree
00093     
00094     void setPWM(uint16_t _pwm_value_us, uint8_t _pwm_channel); //0 is roll, 1 is pitch, 2 is yaw
00095     uint16_t computePwmValue(float _degree, uint8_t _dir, uint8_t _pwm_channel); //0 is left/up/clock, 1 is right/down/cclock
00096 };
00097 
00098 #endif