PanTiltController

Controles the pan and tilt servo motors. More...

#include <PanTiltController.h>

Public Member Functions
void	setPosition (uint16_t pan, uint16_t tilt)
	Sets the position of the pan and tilt motor. More...
void	setPositionOffSet (uint16_t pan, uint16_t tilt)
	Sets the position of the pan and tilt motor. More...
void	home ()
	Homes the pan and tilt motors. More...

Static Public Member Functions
static PanTiltController *	initialize (uint8_t panPin, uint8_t tiltPin)
	Creates a object if there isn't one already. More...

Private Member Functions
	PanTiltController (uint8_t panPin, uint8_t tiltPin)
	constructor of the class More...
void	initServos ()
	attaches the pin number to the servo's and homes the servo's
uint8_t	limit (uint8_t angle)
	Limits an angle between 0° and 180° More...

Private Attributes
Servo	panServo
	Servo motor object for pan.
Servo	tiltServo
	Servo motor object for tilt.
uint8_t	panPin
	pinnumber of the pan pwm
uint8_t	tiltPin
	pinnumber of the tilt pwm
uint16_t	pan
	Current pan angle [°].
uint16_t	tilt
	Current tilt angle [°].

Static Private Attributes
static PanTiltController *	instance = 0
	Pointer to the current used instance.

Detailed Description

Controles the pan and tilt servo motors.

Constructor & Destructor Documentation

PanTiltController()

PanTiltController::PanTiltController ( uint8_t  panPin, uint8_t  tiltPin  )

private

constructor of the class

Parameters

panPin	number of the pan pwm-pin
tiltPin	number of the tilt pwm-pin

                                                                    {
    this->panPin = panPin;
    this->tiltPin = tiltPin;
    this->initServos();
}

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Member Function Documentation

limit()

uint8_t PanTiltController::limit ( uint8_t  angle )

private

Limits an angle between 0° and 180°

If nessecary sends an error over the serial port, indicating the input angle is out of range. When the angle is out of range it is clamped to 0° or 180°. Depending on at wich end the angle is out of range.

Parameters

angle

angle that needs to be checked

Returns

limit: angle between 0° and 180°

                                              {
 
    if (angle > 180) {
        Serial.println("ERROR: Angle can't be bigger than 180 degrees");
        return 180;
    }
    if (angle < 0) {
        Serial.println("ERROR: Angle can't be smaller than 0 degrees");
        return 0;
    }
        
 
    return angle;
}

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initialize()

PanTiltController * PanTiltController::initialize ( uint8_t  panPin, uint8_t  tiltPin  )

static

Creates a object if there isn't one already.

Note

only one instance can excist because there are only two motors available at the moment

Parameters

panPin	number of the pan pwm-pin
tiltPin	number of the tilt pwm-pin

Returns

: PanTiltController: Pointer to object instance

                                                                                {
    if (0 == instance) {
        instance = new PanTiltController(panPin, tiltPin);
    }
    else {
        Serial.println("ERROR: Pan tilt controller already initialized");
    }
    return instance;
}

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setPosition()

void PanTiltController::setPosition	(	uint16_t	pan,
		uint16_t	tilt
	)

Sets the position of the pan and tilt motor.

if nessecary limits both angles

See also

limit()

Parameters

pan	angle to set the pan motor to
tilt	angle to set the tilt motor to

                                                               {
    this->pan = limit(pan);
    this->tilt = limit(tilt);
 
    panServo.write(this->pan);
    tiltServo.write(this->tilt);
}

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setPositionOffSet()

void PanTiltController::setPositionOffSet	(	uint16_t	pan,
		uint16_t	tilt
	)

Sets the position of the pan and tilt motor.

if nessecary limits both angles

See also

limit()

Parameters

pan	angle to set the pan motor to
tilt	angle to set the tilt motor to

{
    this->pan += pan;
    this->tilt += tilt;
 
    setPosition(this->pan, this->tilt);
}

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home()

void PanTiltController::home

(

)

Homes the pan and tilt motors.

Homing is done by setting both motors to 90 degrees

                             {
 
    this->pan = 90;
    this->tilt = 90;
 
    setPosition(this->pan, this->tilt);
}

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