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-rw-r--r--backends/visca.c42
-rw-r--r--backends/visca.h8
-rw-r--r--backends/visca.md6
3 files changed, 35 insertions, 21 deletions
diff --git a/backends/visca.c b/backends/visca.c
index a43d74f..a36b139 100644
--- a/backends/visca.c
+++ b/backends/visca.c
@@ -1,5 +1,5 @@
#define BACKEND_NAME "visca"
-#define DEBUG
+//#define DEBUG
#include <string.h>
#include <math.h>
@@ -17,6 +17,8 @@
* Command output rate limiting / deduplication
* Inquiry
* Reconnect on connection close
+ * Speed updates should send motor outputs
+ *
*/
MM_PLUGIN_API int init(){
@@ -144,8 +146,8 @@ static int ptz_instance(instance* inst){
data->fd = -1;
data->cam_address = 1;
//start with maximum speeds
- data->panspeed = ptz_channels[panspeed].max;
- data->tiltspeed = ptz_channels[tiltspeed].max;
+ data->max_pan = ptz_channels[panspeed].max;
+ data->max_tilt = ptz_channels[tiltspeed].max;
//start with a bit of slack/deadzone in relative movement axes
data->deadzone = 0.1;
@@ -218,8 +220,9 @@ static size_t ptz_set_pantilt(instance* inst, channel* c, channel_value* v, uint
data->y = ((ptz_channels[tilt].max - ptz_channels[tilt].min) * v->normalised) + ptz_channels[tilt].min - ptz_channels[tilt].offset;
}
- msg[4] = data->panspeed;
- msg[5] = data->tiltspeed;
+ //absolute movements happen with maximum speed
+ msg[4] = data->max_pan;
+ msg[5] = data->max_tilt;
//either i'm doing this wrong or visca is just weird.
msg[6] = ((data->x & 0xF000) >> 12);
@@ -238,10 +241,10 @@ static size_t ptz_set_pantilt(instance* inst, channel* c, channel_value* v, uint
static size_t ptz_set_ptspeed(instance* inst, channel* c, channel_value* v, uint8_t* msg){
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
if(c->ident == panspeed){
- data->panspeed = ((ptz_channels[panspeed].max - ptz_channels[panspeed].min) * v->normalised) + ptz_channels[panspeed].min - ptz_channels[panspeed].offset;
+ data->max_pan = ((ptz_channels[panspeed].max - ptz_channels[panspeed].min) * v->normalised) + ptz_channels[panspeed].min - ptz_channels[panspeed].offset;
}
else{
- data->tiltspeed = ((ptz_channels[tiltspeed].max - ptz_channels[tiltspeed].min) * v->normalised) + ptz_channels[tiltspeed].min - ptz_channels[tiltspeed].offset;
+ data->max_tilt = ((ptz_channels[tiltspeed].max - ptz_channels[tiltspeed].min) * v->normalised) + ptz_channels[tiltspeed].min - ptz_channels[tiltspeed].offset;
}
return 0;
@@ -250,7 +253,7 @@ static size_t ptz_set_ptspeed(instance* inst, channel* c, channel_value* v, uint
static size_t ptz_set_relmove(instance* inst, channel* c, channel_value* v, uint8_t* msg){
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
- uint8_t direction = c->ident >> 8;
+ uint8_t direction = c->ident >> 8, movement = data->relative_movement;
double speed_factor = v->normalised;
if(direction == rel_x
@@ -267,24 +270,31 @@ static size_t ptz_set_relmove(instance* inst, channel* c, channel_value* v, uint
//clear modified axis
if(direction & rel_x){
- data->relative_movement &= ~rel_x;
+ movement &= ~rel_x;
+ data->factor_tilt = speed_factor;
}
else{
- data->relative_movement &= ~rel_y;
+ movement &= ~rel_y;
+ data->factor_pan = speed_factor;
}
if(speed_factor){
- data->relative_movement |= direction;
+ movement |= direction;
}
+ //only transmit if something actually changed
+ if(!movement && !data->relative_movement){
+ return 0;
+ }
+ data->relative_movement = movement;
+
//set stored axis speed
- //TODO find a way to do relative axis speed via speed_factor, without overwriting a set absolute speed
- msg[4] = data->panspeed;
- msg[5] = data->tiltspeed;
+ msg[4] = data->max_pan * data->factor_pan;
+ msg[5] = data->max_tilt * data->factor_tilt;
//update motor control from movement data
- msg[6] |= (data->relative_movement & (rel_left | rel_right)) >> 2;
- msg[7] |= data->relative_movement & (rel_up | rel_down);
+ msg[6] |= (movement & (rel_left | rel_right)) >> 2;
+ msg[7] |= movement & (rel_up | rel_down);
//stop motors if unset
msg[6] = msg[6] ? msg[6] : 3;
diff --git a/backends/visca.h b/backends/visca.h
index 1b8c0e5..37f21b1 100644
--- a/backends/visca.h
+++ b/backends/visca.h
@@ -17,8 +17,8 @@ enum /*_ptz_relmove_channel */ {
rel_down = 2,
rel_left = 4,
rel_right = 8,
- rel_x = 3,
- rel_y = 12
+ rel_x = rel_up | rel_down,
+ rel_y = rel_left | rel_right
};
typedef struct /*_ptz_instance_data*/ {
@@ -26,8 +26,8 @@ typedef struct /*_ptz_instance_data*/ {
uint8_t cam_address;
uint16_t x;
uint16_t y;
- uint8_t panspeed;
- uint8_t tiltspeed;
+ uint8_t max_pan, max_tilt;
+ double factor_pan, factor_tilt;
uint8_t relative_movement;
double deadzone;
uint8_t direct_device;
diff --git a/backends/visca.md b/backends/visca.md
index 101aa20..7b1bcc3 100644
--- a/backends/visca.md
+++ b/backends/visca.md
@@ -37,7 +37,9 @@ Each instance exposes the following channels
* `home`: Return to home position
* `memory<n>`: Call memory <n> (if incoming event value is greater than 0.9)
* `store<n>`: Store current pan/tilt/zoom setup to memory <n> (if incoming event value is greater than 0.9)
-* `move.left`, `move.right`, `move.up`, `move.down`: Relative movement with the currently set `panspeed` and `tiltspeed`
+* `move.left`, `move.right`, `move.up`, `move.down`: Move relative to the current position. Set speed is multiplied by the event value.
+* `move.x`, `move.y`: Move relative to the current position along the specified axis. Set speed is multiplied by the event value scaled to the full range (ie. `0.0` to `0.5` moves in one direction, `0.5` to `1.0` in the other).
+
Example mappings:
@@ -45,6 +47,8 @@ Example mappings:
control.pan > visca.pan
control.tilt > visca.tilt
control.btn1 > visca.memory1
+control.stick_x > visca.move.x
+control.stick_y > visca.move.y
```
#### Compatability list