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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"
struct trackoptions {
int dev;
/* Config options: */
unsigned short int type;
char *port;
unsigned short int motorx;
unsigned short int motory;
unsigned short int maxx;
unsigned short int maxy;
unsigned short int stepsize;
unsigned short int speed;
unsigned short int iomojo_id;
unsigned short int active;
int panmin;
int panmax;
int tiltmin;
int tiltmax;
unsigned short int minmaxfound;
unsigned short int step_angle_x;
unsigned short int step_angle_y;
unsigned short int move_wait;
// UVC
int pan_angle; // degrees
int tilt_angle; // degrees
};
extern struct trackoptions track_template;
unsigned short int track_center(struct context *, int, unsigned short int, int, int);
unsigned short int track_move(struct context *, int, struct coord *, struct images *, unsigned short 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
/*
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 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
#ifndef WITHOUT_V4L
/*
Defines for the Logitech QuickCam Orbit/Sphere USB webcam
*/
#define LQOS_VERTICAL_DEGREES 180
#define LQOS_HORIZONAL_DEGREES 120
/*
* UVC
*/
#ifdef MOTION_V4L2
#ifndef V4L2_CID_PAN_RELATIVE
#define V4L2_CID_PAN_RELATIVE (V4L2_CID_PRIVATE_BASE+7)
#endif
#ifndef V4L2_CID_TILT_RELATIVE
#define V4L2_CID_TILT_RELATIVE (V4L2_CID_PRIVATE_BASE+8)
#endif
#ifndef V4L2_CID_PANTILT_RESET
#define V4L2_CID_PANTILT_RESET (V4L2_CID_PRIVATE_BASE+9)
#endif
#define INCPANTILT 64 // 1 degree
#endif /* MOTION_V4L2 */
#endif /* WITHOUT_V4L */
#endif /* _INCLUDE_TRACK_H */
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