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https://github.com/Motion-Project/motion.git
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192 lines
4.9 KiB
C
192 lines
4.9 KiB
C
/* track.h
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*
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* Experimental motion tracking.
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*
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* Copyright 2000, Jeroen Vreeken
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* This program is published under the GNU Public license
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*/
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#ifndef _INCLUDE_TRACK_H
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#define _INCLUDE_TRACK_H
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#include "alg.h"
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#include <termios.h>
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struct trackoptions {
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int dev;
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/* Config options: */
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unsigned short int type;
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char *port;
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unsigned short int motorx;
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unsigned short int motory;
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int maxx;
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int maxy;
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int minx;
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int miny;
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unsigned short int stepsize;
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unsigned short int speed;
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unsigned short int homex;
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unsigned short int homey;
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unsigned short int iomojo_id;
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unsigned short int active;
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unsigned short int motorx_reverse;
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unsigned short int motory_reverse;
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unsigned short int minmaxfound;
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unsigned short int step_angle_x;
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unsigned short int step_angle_y;
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unsigned short int move_wait;
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/* UVC */
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int pan_angle; // degrees
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int tilt_angle; // degrees
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};
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extern struct trackoptions track_template;
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unsigned short int track_center(struct context *, int, unsigned short int, int, int);
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unsigned short int track_move(struct context *, int, struct coord *, struct images *, unsigned short int);
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/*
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* Some default values:
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*/
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#define TRACK_SPEED 255
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#define TRACK_STEPSIZE 40
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#define TRACK_TYPE_STEPPER 1
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#define TRACK_TYPE_IOMOJO 2
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#define TRACK_TYPE_PWC 3
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#define TRACK_TYPE_GENERIC 4
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#define TRACK_TYPE_UVC 5
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#define TRACK_TYPE_SERVO 6
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/*
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* Some defines for the Serial stepper motor:
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*/
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#define STEPPER_BAUDRATE B9600
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#define STEPPER_STATUS_LEFT 1
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#define STEPPER_STATUS_RIGHT 2
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#define STEPPER_STATUS_SAFETYL 4
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#define STEPPER_STATUS_SAFETYR 8
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#define STEPPER_STATUS_UP 1
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#define STEPPER_STATUS_DOWN 2
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#define STEPPER_STATUS_SAFETYU 4
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#define STEPPER_STATUS_SAFETYD 8
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#define STEPPER_COMMAND_STATUS 0
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#define STEPPER_COMMAND_LEFT_N 1
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#define STEPPER_COMMAND_RIGHT_N 2
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#define STEPPER_COMMAND_LEFT 3
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#define STEPPER_COMMAND_RIGHT 4
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#define STEPPER_COMMAND_SWEEP 5
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#define STEPPER_COMMAND_STOP 6
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#define STEPPER_COMMAND_SPEED 7
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#define STEPPER_COMMAND_UP_N 1
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#define STEPPER_COMMAND_DOWN_N 2
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#define STEPPER_COMMAND_UP 3
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#define STEPPER_COMMAND_DOWN 4
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/*
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* Some defines for the Serial servo motor:
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*/
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/*
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* Controlling:
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* Three bytes are sent to the servo - BYTE1=SERVO_COMMAND BYTE2=COMMAND BYTE3=DATA
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* eg, sending the command 01 02 08 would Command SERVO_COMMAND1 to move LEFT a total of 8 STEPS
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*
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* An extra command 0x08 has been added but here is the basic command set.
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*
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* 0x00 STATUS - Current status byte will be returned, data byte ignored
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* 0x01 LEFT_N - Servo will take N Steps to the Left until it reaches the Servos safety limit
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* 0x02 RIGHT_N - Servo will take N Steps to the Right until it reaches the Servos safety limit
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* 0x03 LEFT - Servo will move to Left most position, data byte ignored.
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* 0x04 RIGHT - Servo will move to Right most position, data byte ignored.
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* 0x05 SWEEP - Servo will sweep between its extremes, data byte ignored.
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* 0x06 STOP - Servo will Stop, data byte ignored
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* 0x07 SPEED - Set servos speed between 0 and 255.
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* 0x08 ABSOLUTE - Set servo to absolute position between 0 and 255
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* 0x09 POSITION - Get servo to absolute position between 0 and 255
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* */
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#define SERVO_BAUDRATE B9600
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#define SERVO_COMMAND_STATUS 0
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#define SERVO_COMMAND_LEFT_N 1
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#define SERVO_COMMAND_RIGHT_N 2
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#define SERVO_COMMAND_LEFT 3
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#define SERVO_COMMAND_RIGHT 4
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#define SERVO_COMMAND_SWEEP 5
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#define SERVO_COMMAND_STOP 6
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#define SERVO_COMMAND_SPEED 7
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#define SERVO_COMMAND_ABSOLUTE 8
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#define SERVO_COMMAND_POSITION 9
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#define SERVO_COMMAND_UP_N 1
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#define SERVO_COMMAND_DOWN_N 2
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#define SERVO_COMMAND_UP 3
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#define SERVO_COMMAND_DOWN 4
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/*
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* Some defines for the Iomojo Smilecam:
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*/
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#define IOMOJO_BAUDRATE B19200
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#define IOMOJO_CHECKPOWER_CMD 0xff
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#define IOMOJO_CHECKPOWER_RET 'Q'
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#define IOMOJO_MOVEOFFSET_CMD 0xfe
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#define IOMOJO_SETSPEED_CMD 0xfd
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#define IOMOJO_SETSPEED_RET 'P'
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#define IOMOJO_MOVEHOME 0xf9
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#define IOMOJO_RESTART 0xf7
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#define IOMOJO_DIRECTION_RIGHT 0x01
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#define IOMOJO_DIRECTION_LEFT 0x02
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#define IOMOJO_DIRECTION_DOWN 0x04
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#define IOMOJO_DIRECTION_UP 0x08
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#ifndef WITHOUT_V4L
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/*
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* Defines for the Logitech QuickCam Orbit/Sphere USB webcam
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*/
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#define LQOS_VERTICAL_DEGREES 180
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#define LQOS_HORIZONAL_DEGREES 120
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/*
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* UVC
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*/
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#ifdef MOTION_V4L2
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#ifndef V4L2_CID_PAN_RELATIVE
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#define V4L2_CID_PAN_RELATIVE (V4L2_CID_PRIVATE_BASE+7)
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#endif
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#ifndef V4L2_CID_TILT_RELATIVE
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#define V4L2_CID_TILT_RELATIVE (V4L2_CID_PRIVATE_BASE+8)
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#endif
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#ifndef V4L2_CID_PANTILT_RESET
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#define V4L2_CID_PANTILT_RESET (V4L2_CID_PRIVATE_BASE+9)
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#endif
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#define INCPANTILT 64 // 1 degree
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#endif /* MOTION_V4L2 */
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#endif /* WITHOUT_V4L */
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#endif /* _INCLUDE_TRACK_H */
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