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track.h
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track.h
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/* track.h
*
* Experimental motion tracking.
*
* Copyright 2000, Jeroen Vreeken
* This program is published under the GNU Public license
*/
#ifndef _INCLUDE_TRACK_H
#define _INCLUDE_TRACK_H
#include "alg.h"
#include <termios.h>
struct trackoptions {
int dev;
/* Config options: */
unsigned int type;
char *port;
unsigned int motorx;
unsigned int motory;
int maxx;
int maxy;
int minx;
int miny;
unsigned int stepsize;
unsigned int speed;
unsigned int homex;
unsigned int homey;
unsigned int iomojo_id;
unsigned int active;
unsigned int motorx_reverse;
unsigned int motory_reverse;
unsigned int minmaxfound;
unsigned int step_angle_x;
unsigned int step_angle_y;
unsigned int move_wait;
/* UVC */
int pan_angle; // degrees
int tilt_angle; // degrees
};
extern struct trackoptions track_template;
unsigned int track_center(struct context *, int, unsigned int, int, int);
unsigned int track_move(struct context *, int, struct coord *, struct images *, unsigned int);
/*
* Some default values:
*/
#define TRACK_SPEED 255
#define TRACK_STEPSIZE 40
#define TRACK_TYPE_STEPPER 1
#define TRACK_TYPE_IOMOJO 2
#define TRACK_TYPE_PWC 3
#define TRACK_TYPE_GENERIC 4
#define TRACK_TYPE_UVC 5
#define TRACK_TYPE_SERVO 6
/*
* Some defines for the Serial stepper motor:
*/
#define STEPPER_BAUDRATE B9600
#define STEPPER_STATUS_LEFT 1
#define STEPPER_STATUS_RIGHT 2
#define STEPPER_STATUS_SAFETYL 4
#define STEPPER_STATUS_SAFETYR 8
#define STEPPER_STATUS_UP 1
#define STEPPER_STATUS_DOWN 2
#define STEPPER_STATUS_SAFETYU 4
#define STEPPER_STATUS_SAFETYD 8
#define STEPPER_COMMAND_STATUS 0
#define STEPPER_COMMAND_LEFT_N 1
#define STEPPER_COMMAND_RIGHT_N 2
#define STEPPER_COMMAND_LEFT 3
#define STEPPER_COMMAND_RIGHT 4
#define STEPPER_COMMAND_SWEEP 5
#define STEPPER_COMMAND_STOP 6
#define STEPPER_COMMAND_SPEED 7
#define STEPPER_COMMAND_UP_N 1
#define STEPPER_COMMAND_DOWN_N 2
#define STEPPER_COMMAND_UP 3
#define STEPPER_COMMAND_DOWN 4
/*
* Some defines for the Serial servo motor:
*/
/*
* Controlling:
* Three bytes are sent to the servo - BYTE1=SERVO_COMMAND BYTE2=COMMAND BYTE3=DATA
* eg, sending the command 01 02 08 would Command SERVO_COMMAND1 to move LEFT a total of 8 STEPS
*
* An extra command 0x08 has been added but here is the basic command set.
*
* 0x00 STATUS - Current status byte will be returned, data byte ignored
* 0x01 LEFT_N - Servo will take N Steps to the Left until it reaches the Servos safety limit
* 0x02 RIGHT_N - Servo will take N Steps to the Right until it reaches the Servos safety limit
* 0x03 LEFT - Servo will move to Left most position, data byte ignored.
* 0x04 RIGHT - Servo will move to Right most position, data byte ignored.
* 0x05 SWEEP - Servo will sweep between its extremes, data byte ignored.
* 0x06 STOP - Servo will Stop, data byte ignored
* 0x07 SPEED - Set servos speed between 0 and 255.
* 0x08 ABSOLUTE - Set servo to absolute position between 0 and 255
* 0x09 POSITION - Get servo to absolute position between 0 and 255
* */
#define SERVO_BAUDRATE B9600
#define SERVO_COMMAND_STATUS 0
#define SERVO_COMMAND_LEFT_N 1
#define SERVO_COMMAND_RIGHT_N 2
#define SERVO_COMMAND_LEFT 3
#define SERVO_COMMAND_RIGHT 4
#define SERVO_COMMAND_SWEEP 5
#define SERVO_COMMAND_STOP 6
#define SERVO_COMMAND_SPEED 7
#define SERVO_COMMAND_ABSOLUTE 8
#define SERVO_COMMAND_POSITION 9
#define SERVO_COMMAND_UP_N 1
#define SERVO_COMMAND_DOWN_N 2
#define SERVO_COMMAND_UP 3
#define SERVO_COMMAND_DOWN 4
/*
* Some defines for the Iomojo Smilecam:
*/
#define IOMOJO_BAUDRATE B19200
#define IOMOJO_CHECKPOWER_CMD 0xff
#define IOMOJO_CHECKPOWER_RET 'Q'
#define IOMOJO_MOVEOFFSET_CMD 0xfe
#define IOMOJO_SETSPEED_CMD 0xfd
#define IOMOJO_SETSPEED_RET 'P'
#define IOMOJO_MOVEHOME 0xf9
#define IOMOJO_RESTART 0xf7
#define IOMOJO_DIRECTION_RIGHT 0x01
#define IOMOJO_DIRECTION_LEFT 0x02
#define IOMOJO_DIRECTION_DOWN 0x04
#define IOMOJO_DIRECTION_UP 0x08
#ifdef HAVE_V4L2
/*
* Defines for the Logitech QuickCam Orbit/Sphere USB webcam
*/
#define LQOS_VERTICAL_DEGREES 180
#define LQOS_HORIZONAL_DEGREES 120
/*
* UVC
*/
#ifndef V4L2_CID_PAN_RELATIVE
#define V4L2_CID_PAN_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+4)
#endif
#ifndef V4L2_CID_TILT_RELATIVE
#define V4L2_CID_TILT_RELATIVE (V4L2_CID_CAMERA_CLASS_BASE+5)
#endif
#ifndef V4L2_CID_PAN_RESET
#define V4L2_CID_PAN_RESET (V4L2_CID_CAMERA_CLASS_BASE+6)
#endif
#ifndef V4L2_CID_TILT_RESET
#define V4L2_CID_TILT_RESET (V4L2_CID_CAMERA_CLASS_BASE+7)
#endif
#define INCPANTILT 64 // 1 degree
#endif /* HAVE_V4L2 */
#endif /* _INCLUDE_TRACK_H */