From be1a7ee30e2f79bb5de05043da8ff24dc280138a Mon Sep 17 00:00:00 2001 From: Michal Skorupinski Date: Fri, 31 Aug 2018 21:13:59 +0200 Subject: [PATCH] Camera control Change-Id: Icb988c2e39c8e443128bc680db7ca0f599fa9447 Signed-off-by: Michal Skorupinski --- src/app.c | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/src/app.c b/src/app.c index 53f4e8d..01d8c73 100644 --- a/src/app.c +++ b/src/app.c @@ -136,7 +136,21 @@ static int __driving_motors(int servo, int speed) static void __camera(int azimuth, int elevation) { - //TODO: Camera steering + static const int camer_input_min = -1000; + static const int camer_input_max = 1000; + static const int camer_azimuth_min = 200; + static const int camer_azimuth_max = 700; + static const int camer_elevation_min = 200; + static const int camer_elevation_max = 400; + + int val_azimuth = __map_range_val(camer_input_min, camer_input_max, camer_azimuth_min, camer_azimuth_max, azimuth); + int val_elevation = __map_range_val(0, camer_input_max, camer_elevation_min, camer_elevation_max, elevation); // No need to look upside down + + _D("camera - azimuth[%4d : %4d], elevation[%4d : %4d]", azimuth, val_azimuth, elevation, val_elevation); +#if ENABLE_MOTOR + resource_set_servo_motor_value(14, val_elevation); + resource_set_servo_motor_value(15, val_azimuth); +#endif } static void __command_received_cb(command_s command) { @@ -161,6 +175,8 @@ static void __command_received_cb(command_s command) { static void _initialize_config() { + net_util_init(); + config_init(); char *id = NULL; -- 2.7.4