Pan-Tilt with Joystick Module

The Pan-Tilt Control System is a project that is widely used in many areas. It contains the Joystick Module, two servo motors, two Servo Modules. The two servo motors provide a 2 DOF movement to the mechanism, one is horizontal (pan) and the other one is vertical (tilt) DOFs. These movement axes can be controlled through the Joystick Module. A webcam or a Ultrasonic Distance Sensor Module can be connected to the Pan-Tilt Control System.

Project Key Components

1. SMD

   The SMD acts as a bridge between the script and the modules. It is responsible for interpreting the commands sent by the script and translating them into actions that read input from the Joystick Module and control the two servo motors by the Servo Modules in 2 different axes.

2. Servo Module

   The Servo Module drives the servo motor that is connected to it. It can be controlled through the SMD libraries.

3. Joystick Module

   The Joystick Module allows the user to control the two servo motors, thus, two axes simultaneously.

4. SMD Libraries

   The SMD library is at the heart of the application. It communicates with the SMD using a specific communication protocol, sending commands to read the Joystick Module and send the servo motor control inputs to the Servo Modules.

Project Key Features

• Flexible Position Control The Pan-Tilt Control System allows the user to control the mounted object in a flexible vay due to two servo motors and the precise motor driving capability of the SMD.

• Intuitive Manual Control Through the Joystick Module, the users can intuitively control the 2 DOF Pan-Tilt Control System.

Project Wiring Diagram

Getting Started

1. Hardware Setup

   • Connect the SMD to the PC or Arduino board using USB Gateway Module or Arduino Gateway Module.

   • Connect the Joystick Module and two Servo Modules to the SMD using an RJ-45 cable.

   • Attach the servo motors to the designated axes for pan (horizontal) and tilt (vertical) movements.

   • Connect the each servo motor to the Servo Modules.

   • Make sure that the SMD is powered and all connections are correct.

2. Run the Application

   • Execute the script, initiating the Pan-Tilt Control System application.

   • Move the joystick to see how the system works when different axes of joystick are used.

Project Codes

Python Code

from smd.red import*
import numpy as np

port  = "COM5"

m = Master(port)
m.attach(Red(0))

print(m.get_driver_info(0))
print(m.scan_modules(0))


#Indefinite loop for motion
while True:
    a = m.get_joystick(0,1) #Read the instantaneous joystick position to variable a
    #print(a)  #for debug

    print(a)
    if(a == None):
        print('smd baglantisi :' , m.get_driver_info(0))
   
    
    else:
        a[0] = a[0] + 20
        if a[0] < 0:
            a[0] = np.interp(a[0], (-80, 0), (-100, 0))
        else:
            a[0] = np.interp(a[0], (0,120), (0, 100))


        print(a[1])
        print(a[0])
        m.set_servo(0,1,int(np.interp(a[0], (-100, 100), (0, 180)))) #set the servo angle for pan axis
        m.set_servo(0,3,int(np.interp(a[1], (-100, 100), (0, 180)))) #set the servo angle for tilt axis

Arduino Code