def camposition():
angles = AnglesStorage()
pospitch = angles.pitch
posyaw = angles.yaw
pitch = float(request.args['pitch'])
yaw = float(request.args['yaw'])
if pitch >= 80 or pitch <= -30:
return 'Invalid pitch'
if yaw >= 100 or yaw <= -100:
return 'Invalid yaw'
print 'pitch: ', pospitch, ' yaw: ', posyaw
movementy = int(pitch - pospitch)
movementx = int(yaw - posyaw)
# -22.5, 22.5, 67.5, 112.5, 157.2
# -0.392, 0.392, 1.178, 1.963, 2.743
movement = math.sqrt(movementx ** 2 + movementy ** 2)
movedir = math.atan2(movementy, movementx)
if movement > 3:
if movedir > -0.392 and movedir <= 0.392:
movecamera(6, movement) # move right
elif movedir > 0.392 and movedir <= 1.178:
movecamera(93, diagonal_correction * movement) # move right up
elif movedir > 1.178 and movedir <= 1.963:
movecamera(2, movement) # move up
elif movedir > 1.963 and movedir <= 2.743:
movecamera(92, diagonal_correction * movement) # move left up
elif movedir < -0.392 and movedir >= -1.178:
movecamera(91, diagonal_correction * movement) # move right down
elif movedir < -1.178 and movedir >= -1.963:
movecamera(0, movement) # move down
elif movedir < -1.963 and movedir >= -2.743:
movecamera(90, diagonal_correction * movement) # move left down
elif movedir > 2.743 or movedir < -2.743:
movecamera(4, movement) # move left
else:
return 'No movement'
pitch = movement * math.sin(movedir)
yaw = movement * math.cos(movedir)
angles.pitch = int(pospitch + pitch)
angles.yaw = int(posyaw + yaw)
angles.done()
pospitch = angles.pitch
posyaw = angles.yaw
print 'pitch: ', pospitch, ' yaw: ', posyaw
return 'ACK'
def campositionSetzero():
angles = AnglesStorage()
angles.pitch = 0
angles.yaw = 0
angles.done()
# requests.get(ipcamProtocol + ipcamAddress + ipcamWebctl,
# {'user': ipcamUser,
# 'pwd': ipcamPasswd,
# 'command': 25})
return 'ACK'