caperren/osurc_mars_rover_2017_2018
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Pan/tilt now working from ground station with working tower on rover. Need to integreate tower node on modbus bus for that node, but overall working.

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This commit is contained in:
Corwin Perren
2018-07-14 16:19:18 -07:00
parent 1110dce885
commit de93764849
6 changed files with 33 additions and 23 deletions
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32
software/firmware/tower_pan_tilt/tower_pan_tilt.ino
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@@ -38,12 +38,12 @@ bool communication_good = false;
uint8_t message_count = 0;
// Pan/tilt hard limits
const int pan_min = 1415;
const int pan_center = 1538;
const int pan_max = 1665;
const int pan_min = 1470;
const int pan_center = 1600;
const int pan_max = 1725;
const int tilt_min = 0;
const int tilt_center = 1900;
const int tilt_min = 1020;
const int tilt_center = 1820;
const int tilt_max = 2400;
// Pan/tilt positions
@@ -57,6 +57,8 @@ Servo pan_servo;
Servo tilt_servo;
void setup() {
// Serial.begin(9600);
// while(!Serial);
setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
@@ -82,8 +84,8 @@ void setup_hardware() {
pan_servo.attach(HARDWARE::SERVO_PAN);
tilt_servo.attach(HARDWARE::SERVO_TILT);
pan_servo.write(pan_center);
tilt_servo.write(tilt_center);
pan_servo.writeMicroseconds(pan_center);
tilt_servo.writeMicroseconds(tilt_center);
pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_GREEN, OUTPUT);
@@ -124,8 +126,8 @@ void set_leds() {
void set_pan_tilt_adjustments() {
if (communication_good) {
if (modbus_data[MODBUS_REGISTERS::CENTER_ALL]) {
pan_servo.write(constrain(pan_position, pan_min, pan_max));
tilt_servo.write(constrain(tilt_position, tilt_min, tilt_max));
pan_servo.writeMicroseconds(constrain(pan_position, pan_min, pan_max));
tilt_servo.writeMicroseconds(constrain(tilt_position, tilt_min, tilt_max));
pan_position = pan_center;
tilt_position = tilt_center;
@@ -133,11 +135,15 @@ void set_pan_tilt_adjustments() {
modbus_data[MODBUS_REGISTERS::CENTER_ALL] = 0;
}
pan_position = pan_position - modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] + modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE];
tilt_position = tilt_position + modbus_data[MODBUS_REGISTERS::TILT_ADJUST_POSITIVE] - modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE];
pan_position = constrain(pan_position - modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] + modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE], pan_min, pan_max);
tilt_position = constrain(tilt_position + modbus_data[MODBUS_REGISTERS::TILT_ADJUST_POSITIVE] - modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE], tilt_min, tilt_max);
pan_servo.write(constrain(pan_position, pan_min, pan_max));
tilt_servo.write(constrain(tilt_position, tilt_min, tilt_max));
pan_servo.writeMicroseconds(pan_position);
tilt_servo.writeMicroseconds(tilt_position);
// Serial.print(pan_position);
// Serial.print("\t");
// Serial.println(tilt_position);
modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] = 0;
modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE] = 0;