def test_bearing(self):
C = Compass(43.682213, -70.450696, 0)
self.assertEqual(round(C.get_bearing(43.682194, -70.450769), 2),
250.21)
C = Compass(0, 0, 0)
self.assertEqual(round(C.get_bearing(90, 0), 2), 0)
self.assertEqual(round(C.get_bearing(0, 90), 2), 90)
self.assertEqual(round(C.get_bearing(-90, 0), 2), 180)
self.assertEqual(round(C.get_bearing(0, -90), 2), 270)
C = Compass(33.77487, -84.39904, 0)
self.assertEqual(round(C.get_bearing(34.44768, -84.39367), 3),
0.377) #N - 74.633 km, 46.375 mi,
self.assertEqual(round(C.get_bearing(34.28672, -83.75097), 3),
46.197) #NE - 82.495 km, 51.26 mi
self.assertEqual(round(C.get_bearing(33.77001, -83.69604), 3),
90.281) #E - 65.121 km, 40.464 mi
self.assertEqual(round(C.get_bearing(33.46581, -83.98718), 3),
131.909) #SE - 51.339 km, 31.901 mi
self.assertEqual(round(C.get_bearing(33.4933, -84.43487), 3),
186.058) #S - 31.407 km, 19.515 mi
self.assertEqual(round(C.get_bearing(33.54368, -84.62301), 3),
218.943) #SW - 33.001 km, 20.506 mi
self.assertEqual(round(C.get_bearing(33.76829, -84.71982), 3),
268.676) #W - 29.723 km, 18.469 mi
self.assertEqual(round(C.get_bearing(34.03842, -84.68068), 3),
318.508) #NW - 39.154 km, 24.329 mi
class antenna_tracker():
def __init__(self, servo_COM, antenna_Lat, antenna_Lon, antenna_altitude):
self.compass = Compass(antenna_Lat, antenna_Lon, antenna_altitude)
print(self.compass)
self.servo_COM = servo_COM
def panBothServos(self): #Moves servos through range of motion tests
#global s
print "Starting serial communication with", servoCOM
if servoAttached:
for i in range(127, 0, -2):
self.moveTiltServo(i)
self.movePanServo(i)
time.sleep(0.05)
time.sleep(1)
for i in range(0, 254, 2):
self.moveTiltServo(i)
self.movePanServo(i)
time.sleep(0.05)
time.sleep(1)
print "Motion Test Finished"
else:
print "Error: Settings set to no Servo Connection"
def moveToCenterPos(
self
): #Send servos to their center pos (should be horizontal and straight ahead if zeroed)
#global s
print "Starting serial communication with", servoCOM
if servoAttached:
self.moveTiltServo(127)
self.movePanServo(127)
print "Move to Center Command Sent via", servoCOM
else:
print "Error: Settings set to no Servo Connection"
def moveToTarget(
self, bearing,
elevation): #moves servos based on a bearing and elevation angle
centerBear = 0
temp = 0
if ((bearing > 180) and (centerBear == 0)):
centerBear = 360
elif (((centerBear - bearing) > 180) and (centerBear >= 270)):
bearing = bearing + 360
elif (((centerBear - bearing) > 180) and (centerBear <= 180)):
temp = centerBear
centerBear = 360 + temp
#print ("\tBearing: %.0f" %bearing)
#print ("\tElevation Angle: %.0f"%elevation)
#panTo = (((offsetDegrees-bearing+panOffset)*255)/panRange)+127.5
# With new digital servos, can use map method as described here: http://arduino.cc/en/reference/map
panTo = ((bearing - (centerBear - 168)) * (servo_max - servo_min) /
((centerBear + 168) -
(centerBear - 168)) + servo_min) + (255 * panOffset / 360)
if panTo > 254: panTo = 254
if panTo < 0: panTo = 0
#print "\tServo Degrees:"
if servoAttached:
self.movePanServo(math.trunc(panTo))
#tiltTo = (255*(96-elevation))/90
#tiltTo = (255*(tiltRange-elevation+tiltOffset))/90
#If Error in Antenna Mount i.e. put antenna on backwards fix with changing 0-elevation to elevation (must change tilt stops too
tiltTo = (((0 - elevation) - tilt_angle_min) *
(servo_max - servo_min) /
(tilt_angle_max - tilt_angle_min) + servo_min) + tiltOffset
if tiltTo > 254: tiltTo = 254
if tiltTo < 0: tiltTo = 0
if servoAttached:
self.moveTiltServo(math.trunc(tiltTo))
if (temp != 0):
centerBear = temp
#if servoAttached:
# s.close()
def moveTiltServo(self, position):
s = serial.Serial(self.servo_COM,
baudrate=servoBaud,
timeout=servoTimeout)
#move tilt
if (position < 70): #80 degrees upper limit
moveTilt = [moveCommand, tiltChannel, chr(70)]
elif (position > 123): #5 degrees lower limit
moveTilt = [moveCommand, tiltChannel, chr(123)]
else:
moveTilt = [moveCommand, tiltChannel, chr(position)]
s.write(moveTilt)
#print "\t\tTilt Pan: ", float(position)
#RFD (for use with a second antenna tracker)
# moveTilt = [moveCommand,rfd_tiltChannel,chr(position)]
s.close()
#print("Tilting")
def movePanServo(self, position):
s = serial.Serial(self.servo_COM,
baudrate=servoBaud,
timeout=servoTimeout)
'''
if previousPan > position:
position += 1
previousPan = position
'''
#move Ubiquity
movePan = [moveCommand, panChannel, chr(255 - position)]
s.write(movePan)
#move RFD
# movePan = [moveCommand,rfd_panChannel,chr(255-position)]
# s.write(movePan)
#print "\t\tMove Pan: ", float(position)
s.close()
#print("Paning")
def pointToTarget(self, latitude, longitude, altitude):
distance = self.compass.get_distance(latitude, longitude)
bearing = self.compass.get_bearing(latitude, longitude)
angle = self.compass.get_elevation(latitude, longitude, altitude)
feet_to_miles = (1 / 5280)
print("Dist={0:.2f}, Bearing={1:.2f}, Angle={2:.2f}".format(
distance * feet_to_miles, bearing, angle))
self.moveToTarget(bearing, angle)