/* --orbit-reset.c--
 Author: Osamu Matsumoto<osamu-m@is.naist.jp>
	 http://robotics.naist.jp/~osamu-m/

 Description : OpenCV + PWC patch reset program
 Compile:
    gcc -o orbit-reset `pkg-config opencv --cflags --libs` orbit-reset.c 
 
*/
#include <stdio.h>
#include <cv.h>
#include <highgui.h>

int main(int argc,char *argv[]){
	
	CvCapture *capture;
	IplImage *image;
	CvPanTilt angle;
	CvPanTiltRange range;

	capture = cvCaptureFromCAM(0);
	range = cvRangePanTilt(capture);
	
	printf("pan range %d,%d\n",range.pan_max, range.pan_min);
	printf("tilt range %d,%d\n",range.tilt_max, range.tilt_min);

	cvAbsolutePanTilt(capture, cvPanTilt(0,0), range);
	sleep(1);

	cvAbsolutePanTilt(capture, cvPanTilt(0,2000),range);
	sleep(1);
	cvAbsolutePanTilt(capture, cvPanTilt(0,-2000),range);
	sleep(1);
	
	cvGetPanTilt(capture, &angle);
	printf("angle.pan = %d, angle.tilt = %d\n", angle.pan,angle.tilt);

	cvAbsolutePanTilt(capture, cvPanTilt(7000,0),range);
	sleep(1);
	cvAbsolutePanTilt(capture, cvPanTilt(-7000,0),range);
	sleep(2);
	
	cvAbsolutePanTilt(capture, cvPanTilt(0,0), range);
	sleep(1);
	
 	return 0;
}
// orbit-reset.c ends here