- X: Left/right provided by X stepper axis
- Y: Up/down provided by Y stepper axis
- Theta: Pitch/tilt (up/down)
- Phi: Yaw/pan (left/right)
Don't need roll (in XY plane), or zoom (translation along Z axis).
All distances non-Arduino stored in millimeters, and all angles stored in degrees.
Two (bidirectional) core communication channels:
- User: user-facing interface (after load balancing/etc) to RPi socket
- Control: RPi to/from Arduino
| Slug | Arguments | Returns | Channels | Description |
|---|---|---|---|---|
| moveRel | (x, y, theta, phi) | () | control, user | move position relative to current position |
| moveAbs | (x, y, theta, phi) | () | control, user | move to absolute position specified |
| homeX | () | () | control | move to x=0, and use endstop to ensure that's physically true |
| homeY | () | () | control | move to y=0, and use endstop to ensure that's physically true |
| Slug | Arguments | Channels | Returns | Description |
|---|---|---|---|---|
| start | () | control | () | powers on all motors and camera |
| abort | () | control | () | cancels any buffered moves |
| stop | () | control | () | aborts then powers off all motors and camera |
| currentPosition | () | control, user | (x, y, theta, phi) | returns current translational/rotational position |
- Mon 02/23 (08.50h): 3.40-4.30, 6.00-7.30, 9.40-12.40, 1.30-4.45 8.58h
- Fri 02/27 (03.50h): 12.30-4
- Sat 02/28 (08.75h): 11:45-8:30
- Wed 03/04 (00.50h): 11:45-12:15
- Thu 03/05 (01.50h): 2:30-4
- Sat 03/07 (07.00h): 4.30-6.00, 7.00-12.30
- Sun 03/08 (02.50h): 4.00-6.30
None
None
- Thu 03/26 (09.75h): 8.30-6.15
- Fri 03/27 (09.25h): 2.45-12.00
- Sat 03/28 (05.00h): 12.45-3.30, 9.45-12.00
- Mon 03/30 (07.00h): 3.30-10.30
- Sun 04/12 (04.25h): 1.30-5.45
- Mon 04/13 (06.50h): 3.30-4.30, 7.50-1.20
- Thu 04/23 (01.75h): 8.00-9.45
- Mon 04/27 (06.50): 9.45-4.15