top up prepare for oct fundraise

ArduTracker.ino

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+// Sweep
+// by BARRAGAN <http://barraganstudio.com> 
+// This example code is in the public domain.
+
+
+#include <Servo.h> 
+ 
+Servo pan;  // pan servo
+Servo tilt; // tilt servo
+
+// Pin 13 has an LED connected on most Arduino boards.
+int led = 13;
+long lastTilt = 65L;
+long lastPan = 50L;
+int dir = 1;
+int pos = 0;
+int tiltDelay = 15;
+long minPWM = 1000L;
+long maxPWM = 2000L;
+long panVal = 0L;
+long tiltVal = 0L;
+long interpVal = 0L;
+
+String cmd = "";
+String panStr = "";
+String tiltStr = "";
+
+void setup() 
+{ 
+  pan.attach(9);  
+  tilt.attach(10);
+  
+  Serial.begin(57600);
+
+  pinMode(led, OUTPUT);     
+
+  // Origin for both servos
+  tilt.write(lastTilt);
+  pan.write(lastPan);
+} 
+ 
+ 
+void loop() 
+{ 
+  if (Serial.available()) 
+  {
+    char ch = Serial.read();
+
+    if (ch == 10)
+    {
+      digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
+      
+      // Line feed is the command char
+      if (cmd.startsWith("!!!PAN:"))
+      {
+        panStr = cmd.substring(7,11);
+      
+        if (cmd.substring(12,16) == "TLT:")
+        {
+          tiltStr = cmd.substring(16,20);
+        }
+
+        if (panStr != "")
+        {
+           panVal = panStr.toInt();
+           if (panVal < minPWM)
+           {
+             panVal = minPWM;
+           }        
+         
+           if (panVal > maxPWM)
+           {
+             panVal = maxPWM;
+           }
+       
+           interpVal = ((panVal-minPWM) * 360) / (maxPWM-minPWM);  
+         
+            if (interpVal > 360)
+            {
+              interpVal = 360;
+            }
+        
+            if (interpVal < 0)
+            {
+              interpVal = 0;
+            }
+
+            //Serial.print("Pan=");
+            //Serial.println(interpVal);
+      
+            // This is the calibration constant for the pan which has a gear ratio
+            interpVal = ((interpVal * 10) / 37) + 50;
+            pan.write(interpVal);
+            lastPan = interpVal;
+        }
+      
+        if (tiltStr != "")
+        {
+           tiltVal = tiltStr.toInt();
+           if (tiltVal < minPWM)
+           {
+             tiltVal = minPWM;
+           }        
+         
+           if (tiltVal > maxPWM)
+           {
+             tiltVal = maxPWM;
+           }
+         
+           interpVal = ((tiltVal-minPWM) * 90) / (maxPWM-minPWM);  
+           
+            if (interpVal > 90)
+            {
+              interpVal = 90;
+            }
+          
+            if (interpVal < 0)
+            {
+              interpVal = 0;
+            }
+  
+            //Serial.print("Tilt=");
+            //Serial.println(interpVal);
+            
+            // This is the calibration constant
+            interpVal = 150 - interpVal;
+  
+            dir = 1;
+            if (interpVal < lastTilt)
+            {
+              dir = -1;
+            }
+          
+            if (tiltDelay > 0)
+            {
+              // Slow down tilt by stepping to it's destination
+              for (pos = lastTilt; pos != interpVal; pos += dir)
+              {                                  
+                tilt.write(pos);              
+                delay(tiltDelay);                       
+              } 
+            }
+            else
+            {
+              tilt.write(interpVal);
+            }
+         
+            lastTilt = interpVal;
+        }
+      }
+      else if (cmd.startsWith("!!!TLTDLY:"))
+      {
+        cmd = cmd.substring(10,14);
+        tiltDelay = cmd.toInt();
+      }
+      
+      panStr = "";
+      tiltStr == "";
+      cmd = "";
+
+      digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW         
+    }
+    else
+    {
+      cmd += ch;
+    }
+  }
+}