/**
* Set servo positions (0.0 to 1.0) translated from normalized values
* (-1.0 to 1.0).
*
* @param normalizedHorizontal Pan Position from -1.0 to 1.0.
* @param normalizedVertical Tilt Position from -1.0 to 1.0.
*/
void setServoPositions(float normalizedHorizontal,
float normalizedVertical)
{
float servoH = NormalizeToRange(normalizedHorizontal);
/* narrow vertical range keep vertical servo from going too far */
//float servoV = NormalizeToRange(normalizedVertical, 0.2, 0.8);
float servoV = NormalizeToRange(normalizedVertical);
float currentH = horizontalServo->Get();
float currentV = verticalServo->Get();
/* make sure the movement isn't too small */
if (fabs(servoH - currentH) > servoDeadband)
{
horizontalServo->Set(servoH);
/* save new normalized horizontal position */
horizontalPosition = RangeToNormalized(servoH, 1);
}
if (fabs(servoV - currentV) > servoDeadband)
{
verticalServo->Set(servoV);
// save new normalized vertical position
verticalPosition = RangeToNormalized(servoV, 1);
}
ShowActivity("Servo set to: x: %f y: %f", servoH, servoV);
}
void panForTarget(Servo *panServo, double sinStart) {
float normalizedSinPosition = (float)SinPosition(NULL, sinStart);
float newServoPosition = NormalizeToRange(normalizedSinPosition);
panServo->Set( newServoPosition );
//ShowActivity ("pan x: normalized %f newServoPosition = %f" ,
// normalizedSinPosition, newServoPosition );
}
/**
* Adjust servo positions (0.0 to 1.0) translated from normalized
* values (-1.0 to 1.0).
*
* @param normalizedHorizontal Pan adjustment from -1.0 to 1.0.
* @param normalizedVertical Tilt adjustment from -1.0 to 1.0.
*/
void adjustServoPositions(float normDeltaHorizontal,
float normDeltaVertical)
{
/* adjust for the fact that servo overshoots based on image input */
normDeltaHorizontal /= 8.0;
normDeltaVertical /= 4.0;
/* compute horizontal goal */
float currentH = horizontalServo->Get();
float normCurrentH = RangeToNormalized(currentH, 1);
float normDestH = normCurrentH + normDeltaHorizontal;
/* narrow range keep servo from going too far */
if (normDestH > 1.0)
normDestH = 1.0;
if (normDestH < -1.0)
normDestH = -1.0;
/* convert inputs to servo range */
float servoH = NormalizeToRange(normDestH);
/* compute vertical goal */
float currentV = verticalServo->Get();
float normCurrentV = RangeToNormalized(currentV, 1);
float normDestV = normCurrentV + normDeltaVertical;
if (normDestV > 1.0)
normDestV = 1.0;
if (normDestV < -1.0)
normDestV = -1.0;
float servoV = NormalizeToRange(normDestV, 0.2, 0.8);
/* make sure the movement isn't too small */
if (fabs(currentH - servoH) > servoDeadband)
{
horizontalServo->Set(servoH);
/* save new normalized horizontal position */
horizontalPosition = RangeToNormalized(servoH, 1);
}
if (fabs(currentV - servoV) > servoDeadband)
{
verticalServo->Set(servoV);
// save new normalized vertical position
verticalPosition = RangeToNormalized(servoV, 1);
}
ShowActivity("Servo set to: x: %f y: %f", servoH, servoV);
}
/**
* Set servo positions (0.0 to 1.0) translated from normalized values (-1.0 to 1.0).
*
* @param normalizedHorizontal Pan Position from -1.0 to 1.0.
* @param normalizedVertical Tilt Position from -1.0 to 1.0.
*/
void setServoPositions(float normalizedHorizontal, float normalizedVertical) {
float servoH = NormalizeToRange(normalizedHorizontal);
float servoV = NormalizeToRange(normalizedVertical);
float currentH = horizontalServo->Get();
float currentV = verticalServo->Get();
/* make sure the movement isn't too small */
if ( fabs(servoH - currentH) > servoDeadband ) {
horizontalServo->Set( servoH );
/* save new normalized horizontal position */
horizontalPosition = RangeToNormalized(servoH, 1);
}
if ( fabs(servoV - currentV) > servoDeadband ) {
verticalServo->Set( servoV );
verticalPosition = RangeToNormalized(servoV, 1);
}
}
