Created
February 20, 2016 19:39
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/* Cranebot Controller */ | |
#include <Servo.h> | |
Servo panServo; // create servo object to control a servo | |
Servo tiltServo; // create servo object to control a servo | |
int potpin = 0; // analog pin used to connect the potentiometer | |
int pan; // variable to read the value from the analog pin | |
int tilt; // variable to read the value from the analog pin | |
int obj[] = { 0, 0 } // xPos, yPos (from 0-100) | |
bool hCenter = FALSE; | |
bool vCenter = FALSE; | |
void setup() { | |
Serial.begin(9600); | |
Serial.println("Setup Start"); | |
panServo.attach(9); // attaches the servo on pin 9 to the servo object | |
tiltServo.attach(10); // attaches the servo on pin 9 to the servo object | |
} | |
void loop() { | |
// TODO: Get object postion from pi | |
if (obj[0] < 34 || obj[0] > 66) { // Check if horizontally centered | |
hCenter = FALSE; | |
} else { | |
hCenter = TRUE; | |
} | |
if (obj[1] < 34 || obj[1] > 66) { // Check if vertically centered | |
vCenter = FALSE; | |
} else { | |
vCenter = TRUE; | |
} | |
if (hCenter) { | |
// Object is horizontally centered | |
return; | |
} else { | |
// Horizontally center object | |
// TODO: Pan to center object | |
} | |
if (vCenter) { | |
// Object is vertically centered | |
// TODO: What happens when the object is centered? | |
return; | |
} else { | |
// Center the object | |
// TODO: Tilt to center object | |
} | |
/* Pan */ | |
pan = analogRead(potpin); | |
pan = map(pan, 0, 1023, 0, 135); | |
panServo.write(pan); | |
Serial.print("pan: "); | |
Serial.println(pan); | |
/* Tilt */ | |
tilt = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023) | |
tilt = map(tilt, 0, 1023, 0, 135); // scale it to use it with the servo (value between 0 and 180) | |
tiltServo.write(tilt); | |
Serial.print("tilt: "); | |
Serial.println(tilt); | |
delay(15); // waits for the servo to get there | |
} |
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