Diff: CGimbal.cpp

Revision:

54:aaf6b5ceedd8

Parent:

53:72f350a6d09c

--- a/CGimbal.cpp	Thu Apr 14 13:45:38 2016 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,210 +0,0 @@
-/*
- * CGimbal.cpp
- *
- *  Created on: 15 Feb 2016
- *      Author: mike
- */
-#include "base.h"
-#include <CGimbal.h>
-#include <math.h>
-int debug = 0;
-
-extern Serial pc;
-
-/*
- * The way-points required when performing a sweep of the room, moves from Home to a mid-point of the left-most x,y coords
- * Then moves at 60 degree increments to the right-most position
- * Then moves down at 15 degree increments
- * Uses meander-scan technique rather than raster-scan to reduce motor loading and risk of skipping steps
- */
-static const float ScanArray[36][2] =
-{
-	{30, 7.5}, {90, 7.5}, {150, 7.5}, {150, 22.5}, {90, 22.5}, {30, 22.5},
-	{30, 37.5}, {90, 37.5}, {150, 37.5}, {150, 52.5}, {90, 52.5}, {30, 52.5},
-	{30, 67.5}, {90, 67.5}, {150, 67.5}, {150, 82.5}, {90, 82.5}, {30, 82.5},
-	{30, 97.5}, {90, 97.5}, {150, 97.5}, {150, 112.5}, {90, 112.5}, {30, 112.5},
-	{30, 127.5}, {90, 127.5}, {150, 127.5}, {150, 142.5}, {90, 142.5}, {30, 142.5},
-	{30, 157.5}, {90, 157.5}, {150, 157.5}, {150, 172.5}, {90, 172.5}, {30, 172.5}
-};
-
-
-
-CGimbal::CGimbal(DigitalOut * pXStepPin, DigitalOut * pXDirPin, DigitalOut * pYStepPin, DigitalOut * pYDirPin)
-{
-	//	Zero the tracking parameters
-
-	m_StepInterval = DFT_STEP_INTERVAL;		//	Determines the default motor speed (10us Ticks between each step pulse)
-	m_AbsoluteXPos = 0;						//	Always starts at 0 point
-	m_AbsoluteXAngle = 0.0;					//	Ditto
-	m_AbsoluteYPos = 0;
-	m_AbsoluteYAngle = 0.0;
-	m_xDir = FORWARD;						//	Always initialised in forward direction
-	m_yDir = FORWARD;						//	Ditto
-
-	m_xSteps=0;								//	Nothing to do immediately after being constructed
-	m_ySteps=0;
-
-	m_pXStepPin = pXStepPin;				//	Initialise Pointers to each pin
-	m_pXDirPin = pXDirPin;
-	m_pYStepPin = pYStepPin;
-	m_pYDirPin = pYDirPin;
-
-	m_pXStepPin->write(0);					//	Set all motor driver signals to a known state (LOW)
-	m_pXDirPin->write(0);
-	m_pYStepPin->write(0);
-	m_pYDirPin->write(0);
-
-	m_NumWaypoints = 2;						//	Start with 2 waypoints
-
-	m_TickCount=0;							//	Start at 0
-}
-
-//	Destructor
-CGimbal::~CGimbal()
-{
-
-}
-
-/*
- *	Perform a vectored move, relative to the current x,y position and update internal tracking parameters
- */
-int	CGimbal::MoveRel()
-{
-
-	if (m_xSteps > 0)					//	Determine which direction the motors needs to move
-		m_xDir = FORWARD;
-	else
-		m_xDir = REVERSE;
-	if (m_ySteps > 0)
-		m_yDir = 1;
-	else
-		m_yDir = 0;
-	m_pXDirPin->write(m_xDir);
-	m_pYDirPin->write(m_yDir);
-
-	if (m_xSteps > 0)					//	Absolute number of pulses is always positive regardless of directiong
-		m_xPulses = m_xSteps;
-	else
-		if ((m_xSteps < 0))
-			m_xPulses = -m_xSteps;
-		else
-			m_xPulses = 0;				//	If no steps, do nothing
-
-	if (m_ySteps > 0)					//	Absolute number of pulses is always positive regardless of directiong
-		m_yPulses = m_ySteps;
-	else
-		if ((m_ySteps < 0))
-			m_yPulses = -m_ySteps;
-		else
-			m_yPulses = 0;				//	If no steps, do nothing
-
-	//	Wait for the Ticker to complete this move
-	while (m_xPulses > 0 || m_yPulses > 0);
-
-	m_AbsoluteXPos += m_xSteps;			//	Track the new absolute x position
-	m_AbsoluteYPos += m_ySteps;			//	Track the new absolute y position
-	m_AbsoluteXAngle = (float) ( (float) m_AbsoluteXPos * DEGREES_PER_STEP);	//	Track the new absolute x angle
-	m_AbsoluteYAngle = (float) ( (float) m_AbsoluteYPos * DEGREES_PER_STEP);	//	Track the new absolute y angle
-
-	return(0);
-
-}
-
-/*
- *	Work through the pre-defined tour points to conduct a sweep of the scene in 3 60-degree steps by 12 15-degree steps
- *	Uses a meander-scan rather than raster-scan technique to reduce motor loading
- *	Covers a total scene angle of 180 x 180 (Presently, some points may be occluded by the gimbal housing)
- */
-void CGimbal::MeanderScan(void)
-{
-	int i;
-
-		for (i=0; i<36; i++)
-		{
-			RotateAbs(ScanArray[i][X_AXIS], ScanArray[i][Y_AXIS] );
-		}
-}
-
-/*
- *	Move to absolute x,y position in steps
- */
-int	CGimbal::MoveAbs(float x, float y)
-{
-	m_xSteps = x - m_AbsoluteXPos;
-	m_ySteps = y - m_AbsoluteYPos;
-
-	MoveRel();
-
-	return(0);
-}
-
-/*
- *	Move to absolute x,y angle in degrees
- */
-int	CGimbal::RotateAbs(float xAngle, float yAngle)
-{
-	m_xSteps = (float) ((float) ((xAngle - m_AbsoluteXAngle) / (float) DEGREES_PER_STEP));
-	m_ySteps = (float) ((float) ((yAngle - m_AbsoluteYAngle) / (float) DEGREES_PER_STEP));
-
-	MoveRel();
-
-	return(0);
-}
-
-/*
- *	Calculate how far away from the home position
- *	Then move there.  Note speed is reduced during homing
- */
-void	CGimbal::Home(void)
-{
-	int	oldSpeed = m_StepInterval;
-
-	m_StepInterval = HOME_STEP_INTERVAL;
-
-	m_xSteps = -m_AbsoluteXPos;
-	m_ySteps = -m_AbsoluteYPos;
-	MoveRel();
-
-	m_StepInterval = oldSpeed;
-
-}
-
-/*
- * Rotate to waypoint n.  x,y angle parameters are stored in the member array
- */
-int CGimbal::TourPoint(int n)
-{
-	RotateAbs(m_TourPoints[X_AXIS][n], m_TourPoints[Y_AXIS][n]);
-	return(0);
-}
-
-/*
- * Define the current point as the home reference
- */
-void	CGimbal::Zero(void)
-{
-	int	oldSpeed = m_StepInterval;
-	int timeout = 0;
-
-
-	//	Move at normal speed until 20 steps away from opto switch
-	m_xSteps = (-m_AbsoluteXPos) - 20;
-	m_ySteps = (-m_AbsoluteYPos) -20;
-	MoveRel();
-
-	// Now move at Homing (slow) speed until X opto reached
-	m_StepInterval = HOME_STEP_INTERVAL;
-
-	for (timeout = 0; timeout < 10; timeout++)
-	{
-
-	}
-	//	Move at normal speed until 20 steps away from opto switch
-	//m_xSteps = -(sgn(m_AbsoluteXPos) - 20);
-
-
-	m_StepInterval = oldSpeed;
-
-}
-
-