{"id":85940,"date":"2024-11-29T03:42:51","date_gmt":"2024-11-29T00:12:51","guid":{"rendered":"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/"},"modified":"2024-11-29T03:42:51","modified_gmt":"2024-11-29T00:12:51","slug":"self-aligning-satellite-dish-in-rust-servo-application-3kdl","status":"publish","type":"post","link":"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/","title":{"rendered":"\u062f\u06cc\u0634 \u0645\u0627\u0647\u0648\u0627\u0631\u0647 \u0627\u06cc \u062e\u0648\u062f \u062a\u0631\u0627\u0632 \u062f\u0631 \u0632\u0646\u06af: \u06a9\u0627\u0631\u0628\u0631\u062f \u0633\u0631\u0648\u0648"},"content":{"rendered":"<p>Summarize this content to 400 words in Persian Lang<br \/>\n              \u062d\u0631\u06a9\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a PTZ \u0645\u0627 \u062a\u0648\u0633\u0637 PWM \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc \u0634\u0648\u062f. \u062f\u0631 \u0642\u0633\u0645\u062a \u0628\u0639\u062f\u06cc \u0628\u0647 \u0628\u0631\u0631\u0633\u06cc \u0645\u06a9\u0627\u0646\u06cc\u06a9 \u062d\u0631\u06a9\u062a \u062a\u0627\u0628\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u067e\u0631\u062f\u0627\u062e\u062a.<\/p>\n<p>\u062f\u0631 \u0642\u0633\u0645\u062a \u0642\u0628\u0644 \u062a\u0648\u0627\u0646\u0633\u062a\u06cc\u0645 \u0633\u0631\u0648\u0648 \u0631\u0627 \u062a\u0627 180 \u062f\u0631\u062c\u0647 \u062d\u0631\u06a9\u062a \u062f\u0647\u06cc\u0645. \u0645\u0627 \u0622\u0646 \u06a9\u062f \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u0648 \u062a\u0627\u0628\u0639\u06cc \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0633\u0631\u0648\u0648\u06cc \u0645\u0627 \u0631\u0627 \u0628\u0647 \u0647\u0631 \u0632\u0627\u0648\u06cc\u0647 \u0627\u06cc \u0647\u062f\u0627\u06cc\u062a \u06a9\u0646\u062f.<\/p>\n<p>  \u0641\u0647\u0631\u0633\u062a \u0645\u0637\u0627\u0644\u0628<\/p>\n<p>  \u0627\u0644\u0632\u0627\u0645\u0627\u062a<\/p>\n<p>1 \u0639\u062f\u062f \u062a\u062e\u062a\u0647 \u0631\u0632\u0628\u0631\u06cc \u067e\u06cc\u06a9\u0648<br \/>\n1 \u0639\u062f\u062f \u06a9\u0627\u0628\u0644 USB \u0646\u0648\u0639 2.0<br \/>\n1 \u0639\u062f\u062f \u0645\u0627\u0698\u0648\u0644 \u0628\u0644\u0648\u062a\u0648\u062b HC-05<br \/>\n1 \u0639\u062f\u062f \u0645\u0627\u0698\u0648\u0644 \u0642\u0637\u0628 \u0646\u0645\u0627 HMC5833L<br \/>\n\u0633\u06cc\u0645 \u0628\u0644\u0648\u0632 18 MM<br \/>\n2 \u0639\u062f\u062f \u062a\u062e\u062a\u0647 \u0646\u0627\u0646 \u06a9\u0648\u0686\u06a9<br \/>\n2 \u0639\u062f\u062f \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 SG90<br \/>\n1 \u0639\u062f\u062f \u06a9\u06cc\u062a PTZ<br \/>\n1 \u0639\u062f\u062f \u0645\u0627\u0698\u0648\u0644 GPS<\/p>\n<p>  \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc<\/p>\n<p>\u0647\u0631 \u062f\u0648 \u0633\u0631\u0648\u0648 \u0631\u0627 \u062f\u0631 \u06a9\u06cc\u062a PTZ \u062b\u0627\u0628\u062a \u06a9\u0646\u06cc\u062f.<\/p>\n<p>\u06a9\u06cc\u062a \u0645\u0627 \u0645\u062d\u062f\u0648\u062f \u0628\u0647 \u062d\u0631\u06a9\u062a \u0627\u0632 0 \u062f\u0631\u062c\u0647 \u0628\u0647 90 \u062f\u0631\u062c\u0647 \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f. \u062a\u0646\u0638\u06cc\u0645 \u0628\u0647 \u06af\u0648\u0646\u0647 \u0627\u06cc \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f \u06a9\u0647 \u062f\u0631 90 \u062f\u0631\u062c\u0647 \u0642\u0633\u0645\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a \u0631\u0648 \u0628\u0647 \u0628\u0627\u0644\u0627 \u0648 \u062f\u0631 0 \u062f\u0631\u062c\u0647 \u0628\u0647 \u0635\u0648\u0631\u062a \u0639\u0645\u0648\u062f\u06cc \u0642\u0631\u0627\u0631 \u0645\u06cc \u06af\u06cc\u0631\u062f. \u0647\u0646\u06af\u0627\u0645 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0628\u0627\u06cc\u062f \u062f\u0631 90 \u062f\u0631\u062c\u0647 \u0628\u0631\u0627\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062f\u0642\u06cc\u0642 \u0639\u0646\u0648\u0627\u0646 \u0642\u0637\u0628 \u0646\u0645\u0627 \u0628\u0627\u0634\u062f.<\/p>\n<p>\u062a\u0635\u0648\u06cc\u0631 \u0628\u0627\u0644\u0627 \u06a9\u06cc\u062a \u062a\u0627\u0628\u0647 \u0631\u0627 \u062f\u0631 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f. \u062e\u0637 \u0646\u0642\u0637\u0647 \u0686\u06cc\u0646 \u062e\u0637 \u062f\u06cc\u062f \u062f\u0633\u062a\u06af\u0627\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 \u062f\u06cc\u0634 \u0645\u0627\u0647\u0648\u0627\u0631\u0647 \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f.<\/p>\n<p>  \u0646\u0645\u0648\u062f\u0627\u0631 \u0627\u062a\u0635\u0627\u0644\u0627\u062a<\/p>\n<p>\u0644\u0637\u0641\u0627 \u062a\u0648\u062c\u0647 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f \u06a9\u0647 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u0631\u0648\u06cc \u06a9\u06cc\u062a PTZ \u0646\u0635\u0628 \u0634\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<p>  \u062a\u0648\u0627\u0628\u0639<\/p>\n<p>\u0645\u0627 \u0627\u0632 \u06a9\u062f\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f sweep \u062a\u0627\u0628\u0639\u06cc \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0645\u062b\u0627\u0644 \u062f\u0631 \u0642\u0633\u0645\u062a \u0642\u0628\u0644 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u062a\u0645\u0627\u0645\u06cc \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0645\u0639\u0631\u0641\u06cc \u0634\u062f\u0647 \u06cc\u0639\u0646\u06cc import \u0646\u0648\u0634\u062a\u06cc\u0645 CH \u0648 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc delay.<\/p>\n<p>\u0645\u0627 \u0627\u06cc\u0646\u0647\u0627 \u0631\u0627 \u062f\u0631 \u0627\u0637\u0631\u0627\u0641 \u06cc\u06a9 \u062a\u0627\u0628\u0639 \u062f\u06cc\u06af\u0631 \u0642\u0631\u0627\u0631 \u0645\u06cc \u062f\u0647\u06cc\u0645 tilt \u0628\u0631\u0627\u06cc \u0627\u062c\u0631\u0627\u06cc \u062a\u0645\u06cc\u0632\u062a\u0631 \u0648 \u06a9\u0645\u06a9 \u0628\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u062c\u062f\u062f \u0627\u0632 \u06a9\u062f \u062f\u0631 \u0622\u06cc\u0646\u062f\u0647.<\/p>\n<p>\u0631\u0627 tilt \u062a\u0627\u0628\u0639 \u0645\u06cc \u06af\u06cc\u0631\u062f Direction \u0648 tilt_angle \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0627\u0633\u062a\u062f\u0644\u0627\u0644 \u0648 \u062a\u0636\u0645\u06cc\u0646 \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u062d\u0631\u06a9\u062a \u062f\u0631 \u0645\u062d\u062f\u0648\u062f\u0647 0 \u062a\u0627 90 \u062f\u0631\u062c\u0647 \u0645\u062d\u062f\u0648\u062f \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<p>fn tilt(pwm: &amp;CH, delay: &amp;mut Delay, tilt_angle: &amp;mut f32, direction: Direction) {<br \/>\n    if *tilt_angle &gt;= 0. &amp;&amp; *tilt_angle &lt;= 90. {<br \/>\n        \/\/ valid movts only if angle within range<br \/>\n        match direction {<br \/>\n            Direction::Up =&gt; {<br \/>\n                if *tilt_angle != 0. {\/\/ constrain angle within range<br \/>\n                    *tilt_angle -= 1.;\/\/ update tilt angle<br \/>\n                    position_kit_tilt(pwm, tilt_angle);<br \/>\n                    delay.delay_ms(1);\/\/ delay<br \/>\n                }<br \/>\n            },<br \/>\n            Direction::Down =&gt; {<br \/>\n                if *tilt_angle != 90. {\/\/ constrain angle within range<br \/>\n                    *tilt_angle += 1.;\/\/ update tilt angle<br \/>\n                    position_kit_tilt(pwm, tilt_angle);<br \/>\n                    delay.delay_ms(1);\/\/ delay<br \/>\n                }<br \/>\n            },<br \/>\n            _ =&gt; {},<br \/>\n        }<br \/>\n    }<br \/>\n}<\/p>\n<p>fn position_kit_tilt(pwm: &amp;CH, tilt_angle: &amp;mut f32) {<br \/>\n    \/\/ facing up &#8211;&gt; at 90 deg<br \/>\n    \/\/ standing vertically &#8211;&gt; 0 deg<br \/>\n    pwm.sweep((90. &#8211; tilt_angle.round()) as u16);<br \/>\n}<\/p>\n<p>    \u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/p>\n<p>    \u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/p>\n<p>\u0645\u0627 \u0628\u0627\u06cc\u062f \u06cc\u06a9 \u0645\u062a\u063a\u06cc\u0631 \u0633\u0631\u0627\u0633\u0631\u06cc \u0645\u0639\u0631\u0641\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0634\u06cc\u0628 \u0628\u0647 \u0631\u0648\u0632 \u0634\u062f\u0647 \u0631\u0627 \u0646\u06af\u0647 \u0645\u06cc \u062f\u0627\u0631\u062f.<\/p>\n<p>static TILT: Mutex&lt;RefCell&lt;Option&lt;f32&gt;&gt;&gt; = Mutex::new(RefCell::new(None));<\/p>\n<p>    \u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/p>\n<p>    \u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/p>\n<p>\u0622\u0646 \u0631\u0627 \u0645\u0642\u062f\u0627\u0631\u062f\u0647\u06cc \u0627\u0648\u0644\u06cc\u0647 \u06a9\u0646\u06cc\u062f \u0648 \u062f\u0631 \u0645\u062a\u063a\u06cc\u0631 \u0648\u0627\u0642\u0639\u06cc \u0622\u067e\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f. \u0633\u06cc\u0633\u062a\u0645 \u0628\u0627\u06cc\u062f \u0628\u0627 \u0642\u0633\u0645\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a \u0631\u0648 \u0628\u0647 \u0628\u0627\u0644\u0627 \u0634\u0631\u0648\u0639 \u0634\u0648\u062f.<\/p>\n<p>let mut tilt_angle = 90.; \/\/ initialize tilt angle i.e. kit facing up<\/p>\n<p>position_tilt_kit(&amp;pwm2, &amp;mut tilt_angle);\/\/ start position of tilt<\/p>\n<p>cortex_m::interrupt::free(|cs| {<br \/>\n    TILT.borrow(cs).replace(Some(tilt_angle));<br \/>\n});<\/p>\n<p>    \u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/p>\n<p>    \u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/p>\n<p>  \u0628\u0631\u0646\u0627\u0645\u0647<\/p>\n<p>\u0627\u06a9\u0646\u0648\u0646 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0627\u0632 PWM \u062f\u0631 \u06a9\u062f \u0628\u0631\u0646\u0627\u0645\u0647 \u062e\u0648\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645. <\/p>\n<p>\u062f\u0631 manual \u0628\u062e\u0634 \u06a9\u062f \u0628\u0631\u0646\u0627\u0645\u0647\u060c \u062f\u0631 \u0632\u06cc\u0631 Up\u060c \u062e\u0637\u0648\u0637 \u0632\u06cc\u0631 \u0631\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\n<p>tilt(&amp;pwm2, delay.as_mut().unwrap(), tilt_angle.as_mut().unwrap(), Direction::Up);<\/p>\n<p>writeln!(&amp;mut serialbuf, &#8220;tilt angle: {}&#8221;, tilt_angle.unwrap().round()).unwrap();<br \/>\ntransmit_uart_data(uart_data.as_mut().unwrap(), serialbuf);<\/p>\n<p>    \u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/p>\n<p>    \u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/p>\n<p>\u0632\u06cc\u0631 Down:<\/p>\n<p>tilt(&amp;pwm2, delay.as_mut().unwrap(), tilt_angle.as_mut().unwrap(), Direction::Down);<\/p>\n<p>writeln!(&amp;mut serialbuf, &#8220;tilt angle: {}&#8221;, tilt_angle.unwrap().round()).unwrap();<br \/>\ntransmit_uart_data(uart_data.as_mut().unwrap(), serialbuf);<\/p>\n<p>    \u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/p>\n<p>    \u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/p>\n<p>  \u0646\u062a\u0627\u06cc\u062c<\/p>\n<p>\u0628\u0627 \u0645\u0631\u062a\u0628 \u06a9\u0631\u062f\u0646 \u0645\u062c\u062f\u062f \u06a9\u062f\u060c \u062f\u0631 \u0646\u0647\u0627\u06cc\u062a \u0628\u0647 \u0627\u06cc\u0646 \u0646\u0633\u062e\u0647 \u0646\u0647\u0627\u06cc\u06cc \u0645\u06cc \u0631\u0633\u06cc\u0645.<\/p>\n<p>\u0627\u06af\u0631 \u0622\u0646 \u0631\u0627 \u062f\u0631 Pico \u0627\u062c\u0631\u0627 \u06a9\u0646\u06cc\u062f\u060c \u0628\u0627\u06cc\u062f \u0628\u0628\u06cc\u0646\u06cc\u062f \u06a9\u0647 \u06a9\u06cc\u062a PTZ \u062f\u0631 \u0647\u0646\u06af\u0627\u0645 \u0631\u0648\u0634\u0646 \u0634\u062f\u0646 \u0631\u0648 \u0628\u0647 \u0628\u0627\u0644\u0627 \u0627\u0633\u062a \u0648 \u0628\u0633\u062a\u0647 \u0628\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0632 \u0628\u0631\u0646\u0627\u0645\u0647 \u0633\u0631\u06cc\u0627\u0644 \u0628\u0644\u0648\u062a\u0648\u062b\u060c \u0628\u0647 \u0633\u0645\u062a \u0628\u0627\u0644\u0627 \u06cc\u0627 \u067e\u0627\u06cc\u06cc\u0646 \u062d\u0631\u06a9\u062a \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<p>\u0628\u0627\u0644\u0627&#8230;<\/p>\n<p>\u067e\u0627\u06cc\u06cc\u0646&#8230;<\/p>\n<p>\u062f\u0631 \u0642\u0633\u0645\u062a \u0628\u0639\u062f\u06cc \u0639\u0645\u0644\u06a9\u0631\u062f \u067e\u0627\u0646 \u0631\u0627 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u067e\u0627\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0642\u0627\u062f\u0631 \u0645\u06cc \u0633\u0627\u0632\u062f \u062a\u0627 \u0628\u0627 \u0622\u0646 \u0647\u0645\u0627\u0647\u0646\u06af \u0634\u0648\u062f theta \u0627\u0632 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0646\u06af\u0627\u0647 \u0645\u0627<\/p>\n<div data-article-id=\"2012192\" id=\"article-body\">\n<p>\u062d\u0631\u06a9\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a PTZ \u0645\u0627 \u062a\u0648\u0633\u0637 PWM \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc \u0634\u0648\u062f. \u062f\u0631 \u0642\u0633\u0645\u062a \u0628\u0639\u062f\u06cc \u0628\u0647 \u0628\u0631\u0631\u0633\u06cc \u0645\u06a9\u0627\u0646\u06cc\u06a9 \u062d\u0631\u06a9\u062a \u062a\u0627\u0628\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u067e\u0631\u062f\u0627\u062e\u062a.<\/p>\n<p>\u062f\u0631 \u0642\u0633\u0645\u062a \u0642\u0628\u0644 \u062a\u0648\u0627\u0646\u0633\u062a\u06cc\u0645 \u0633\u0631\u0648\u0648 \u0631\u0627 \u062a\u0627 180 \u062f\u0631\u062c\u0647 \u062d\u0631\u06a9\u062a \u062f\u0647\u06cc\u0645. \u0645\u0627 \u0622\u0646 \u06a9\u062f \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u0648 \u062a\u0627\u0628\u0639\u06cc \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0633\u0631\u0648\u0648\u06cc \u0645\u0627 \u0631\u0627 \u0628\u0647 \u0647\u0631 \u0632\u0627\u0648\u06cc\u0647 \u0627\u06cc \u0647\u062f\u0627\u06cc\u062a \u06a9\u0646\u062f.<\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_85 counter-hierarchy ez-toc-counter-rtl ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u0641\u0647\u0631\u0633\u062a \u0645\u0637\u0627\u0644\u0628<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D9%81%D9%87%D8%B1%D8%B3%D8%AA_%D9%85%D8%B7%D8%A7%D9%84%D8%A8\" >\u0641\u0647\u0631\u0633\u062a \u0645\u0637\u0627\u0644\u0628<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D8%A7%D9%84%D8%B2%D8%A7%D9%85%D8%A7%D8%AA\" >\u0627\u0644\u0632\u0627\u0645\u0627\u062a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D9%BE%DB%8C%D8%A7%D8%AF%D9%87_%D8%B3%D8%A7%D8%B2%DB%8C\" >\u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D9%86%D9%85%D9%88%D8%AF%D8%A7%D8%B1_%D8%A7%D8%AA%D8%B5%D8%A7%D9%84%D8%A7%D8%AA\" >\u0646\u0645\u0648\u062f\u0627\u0631 \u0627\u062a\u0635\u0627\u0644\u0627\u062a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D8%AA%D9%88%D8%A7%D8%A8%D8%B9\" >\u062a\u0648\u0627\u0628\u0639<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D8%A8%D8%B1%D9%86%D8%A7%D9%85%D9%87\" >\u0628\u0631\u0646\u0627\u0645\u0647<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/nabfollower.com\/blog\/self-aligning-satellite-dish-in-rust-servo-application-3kdl\/#%D9%86%D8%AA%D8%A7%DB%8C%D8%AC\" >\u0646\u062a\u0627\u06cc\u062c<\/a><\/li><\/ul><\/nav><\/div>\n<h3><span class=\"ez-toc-section\" id=\"%D9%81%D9%87%D8%B1%D8%B3%D8%AA_%D9%85%D8%B7%D8%A7%D9%84%D8%A8\"><\/span>\n<p>  \u0641\u0647\u0631\u0633\u062a \u0645\u0637\u0627\u0644\u0628<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<h3><span class=\"ez-toc-section\" id=\"%D8%A7%D9%84%D8%B2%D8%A7%D9%85%D8%A7%D8%AA\"><\/span>\n<p>  \u0627\u0644\u0632\u0627\u0645\u0627\u062a<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li>1 \u0639\u062f\u062f \u062a\u062e\u062a\u0647 \u0631\u0632\u0628\u0631\u06cc \u067e\u06cc\u06a9\u0648<\/li>\n<li>1 \u0639\u062f\u062f \u06a9\u0627\u0628\u0644 USB \u0646\u0648\u0639 2.0<\/li>\n<li>1 \u0639\u062f\u062f \u0645\u0627\u0698\u0648\u0644 \u0628\u0644\u0648\u062a\u0648\u062b HC-05<\/li>\n<li>1 \u0639\u062f\u062f \u0645\u0627\u0698\u0648\u0644 \u0642\u0637\u0628 \u0646\u0645\u0627 HMC5833L<\/li>\n<li>\u0633\u06cc\u0645 \u0628\u0644\u0648\u0632 18 MM <\/li>\n<li>2 \u0639\u062f\u062f \u062a\u062e\u062a\u0647 \u0646\u0627\u0646 \u06a9\u0648\u0686\u06a9<\/li>\n<li>2 \u0639\u062f\u062f \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 SG90<\/li>\n<li>1 \u0639\u062f\u062f \u06a9\u06cc\u062a PTZ<\/li>\n<li>1 \u0639\u062f\u062f \u0645\u0627\u0698\u0648\u0644 GPS<\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"%D9%BE%DB%8C%D8%A7%D8%AF%D9%87_%D8%B3%D8%A7%D8%B2%DB%8C\"><\/span>\n<p>  \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0647\u0631 \u062f\u0648 \u0633\u0631\u0648\u0648 \u0631\u0627 \u062f\u0631 \u06a9\u06cc\u062a PTZ \u062b\u0627\u0628\u062a \u06a9\u0646\u06cc\u062f.<\/p>\n<p>\u06a9\u06cc\u062a \u0645\u0627 \u0645\u062d\u062f\u0648\u062f \u0628\u0647 \u062d\u0631\u06a9\u062a \u0627\u0632 0 \u062f\u0631\u062c\u0647 \u0628\u0647 90 \u062f\u0631\u062c\u0647 \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f. \u062a\u0646\u0638\u06cc\u0645 \u0628\u0647 \u06af\u0648\u0646\u0647 \u0627\u06cc \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f \u06a9\u0647 \u062f\u0631 90 \u062f\u0631\u062c\u0647 \u0642\u0633\u0645\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a \u0631\u0648 \u0628\u0647 \u0628\u0627\u0644\u0627 \u0648 \u062f\u0631 0 \u062f\u0631\u062c\u0647 \u0628\u0647 \u0635\u0648\u0631\u062a \u0639\u0645\u0648\u062f\u06cc \u0642\u0631\u0627\u0631 \u0645\u06cc \u06af\u06cc\u0631\u062f. \u0647\u0646\u06af\u0627\u0645 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0628\u0627\u06cc\u062f \u062f\u0631 90 \u062f\u0631\u062c\u0647 \u0628\u0631\u0627\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062f\u0642\u06cc\u0642 \u0639\u0646\u0648\u0627\u0646 \u0642\u0637\u0628 \u0646\u0645\u0627 \u0628\u0627\u0634\u062f.<\/p>\n<p><\/p>\n<p>\u062a\u0635\u0648\u06cc\u0631 \u0628\u0627\u0644\u0627 \u06a9\u06cc\u062a \u062a\u0627\u0628\u0647 \u0631\u0627 \u062f\u0631 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f. \u062e\u0637 \u0646\u0642\u0637\u0647 \u0686\u06cc\u0646 \u062e\u0637 \u062f\u06cc\u062f \u062f\u0633\u062a\u06af\u0627\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 \u062f\u06cc\u0634 \u0645\u0627\u0647\u0648\u0627\u0631\u0647 \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f.<\/p>\n<h3><span class=\"ez-toc-section\" id=\"%D9%86%D9%85%D9%88%D8%AF%D8%A7%D8%B1_%D8%A7%D8%AA%D8%B5%D8%A7%D9%84%D8%A7%D8%AA\"><\/span>\n<p>  \u0646\u0645\u0648\u062f\u0627\u0631 \u0627\u062a\u0635\u0627\u0644\u0627\u062a<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p><img decoding=\"async\" src=\"https:\/\/media2.dev.to\/dynamic\/image\/width=800%2Cheight=%2Cfit=scale-down%2Cgravity=auto%2Cformat=auto\/https%3A%2F%2Fdev-to-uploads.s3.amazonaws.com%2Fuploads%2Farticles%2F8qz9i3hbi9fc0tjk9w55.png\" alt=\"pwm-app-setup\" loading=\"lazy\" width=\"800\" height=\"671\" title=\"\"><\/p>\n<blockquote>\n<p>\u0644\u0637\u0641\u0627 \u062a\u0648\u062c\u0647 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f \u06a9\u0647 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u0631\u0648\u06cc \u06a9\u06cc\u062a PTZ \u0646\u0635\u0628 \u0634\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<\/blockquote>\n<h3><span class=\"ez-toc-section\" id=\"%D8%AA%D9%88%D8%A7%D8%A8%D8%B9\"><\/span>\n<p>  \u062a\u0648\u0627\u0628\u0639<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0645\u0627 \u0627\u0632 \u06a9\u062f\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f <code>sweep<\/code> \u062a\u0627\u0628\u0639\u06cc \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0645\u062b\u0627\u0644 \u062f\u0631 \u0642\u0633\u0645\u062a \u0642\u0628\u0644 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u062a\u0645\u0627\u0645\u06cc \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0645\u0639\u0631\u0641\u06cc \u0634\u062f\u0647 \u06cc\u0639\u0646\u06cc import \u0646\u0648\u0634\u062a\u06cc\u0645 <code>CH<\/code> \u0648 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc <code>delay<\/code>.<\/p>\n<p>\u0645\u0627 \u0627\u06cc\u0646\u0647\u0627 \u0631\u0627 \u062f\u0631 \u0627\u0637\u0631\u0627\u0641 \u06cc\u06a9 \u062a\u0627\u0628\u0639 \u062f\u06cc\u06af\u0631 \u0642\u0631\u0627\u0631 \u0645\u06cc \u062f\u0647\u06cc\u0645 <code>tilt<\/code> \u0628\u0631\u0627\u06cc \u0627\u062c\u0631\u0627\u06cc \u062a\u0645\u06cc\u0632\u062a\u0631 \u0648 \u06a9\u0645\u06a9 \u0628\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u062c\u062f\u062f \u0627\u0632 \u06a9\u062f \u062f\u0631 \u0622\u06cc\u0646\u062f\u0647.<\/p>\n<p>\u0631\u0627 <code>tilt<\/code> \u062a\u0627\u0628\u0639 \u0645\u06cc \u06af\u06cc\u0631\u062f <code>Direction<\/code> \u0648 <code>tilt_angle<\/code> \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0627\u0633\u062a\u062f\u0644\u0627\u0644 \u0648 \u062a\u0636\u0645\u06cc\u0646 \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u062d\u0631\u06a9\u062a \u062f\u0631 \u0645\u062d\u062f\u0648\u062f\u0647 0 \u062a\u0627 90 \u062f\u0631\u062c\u0647 \u0645\u062d\u062f\u0648\u062f \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<div class=\"highlight js-code-highlight\">\n<pre class=\"highlight rust\"><code><span class=\"k\">fn<\/span> <span class=\"nf\">tilt<\/span><span class=\"p\">(<\/span><span class=\"n\">pwm<\/span><span class=\"p\">:<\/span> <span class=\"o\">&amp;<\/span><span class=\"n\">CH<\/span><span class=\"p\">,<\/span> <span class=\"n\">delay<\/span><span class=\"p\">:<\/span> <span class=\"o\">&amp;<\/span><span class=\"k\">mut<\/span> <span class=\"n\">Delay<\/span><span class=\"p\">,<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"p\">:<\/span> <span class=\"o\">&amp;<\/span><span class=\"k\">mut<\/span> <span class=\"nb\">f32<\/span><span class=\"p\">,<\/span> <span class=\"n\">direction<\/span><span class=\"p\">:<\/span> <span class=\"n\">Direction<\/span><span class=\"p\">)<\/span> <span class=\"p\">{<\/span>\n    <span class=\"k\">if<\/span> <span class=\"o\">*<\/span><span class=\"n\">tilt_angle<\/span> <span class=\"o\">&gt;=<\/span> <span class=\"mf\">0.<\/span> <span class=\"o\">&amp;&amp;<\/span> <span class=\"o\">*<\/span><span class=\"n\">tilt_angle<\/span> <span class=\"o\">&lt;=<\/span> <span class=\"mf\">90.<\/span> <span class=\"p\">{<\/span> \n        <span class=\"c1\">\/\/ valid movts only if angle within range<\/span>\n        <span class=\"k\">match<\/span> <span class=\"n\">direction<\/span> <span class=\"p\">{<\/span>\n            <span class=\"nn\">Direction<\/span><span class=\"p\">::<\/span><span class=\"n\">Up<\/span> <span class=\"k\">=&gt;<\/span> <span class=\"p\">{<\/span>\n                <span class=\"k\">if<\/span> <span class=\"o\">*<\/span><span class=\"n\">tilt_angle<\/span> <span class=\"o\">!=<\/span> <span class=\"mf\">0.<\/span> <span class=\"p\">{<\/span><span class=\"c1\">\/\/ constrain angle within range<\/span>\n                    <span class=\"o\">*<\/span><span class=\"n\">tilt_angle<\/span> <span class=\"o\">-=<\/span> <span class=\"mf\">1.<\/span><span class=\"p\">;<\/span><span class=\"c1\">\/\/ update tilt angle<\/span>\n                    <span class=\"nf\">position_kit_tilt<\/span><span class=\"p\">(<\/span><span class=\"n\">pwm<\/span><span class=\"p\">,<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"p\">);<\/span>\n                    <span class=\"n\">delay<\/span><span class=\"nf\">.delay_ms<\/span><span class=\"p\">(<\/span><span class=\"mi\">1<\/span><span class=\"p\">);<\/span><span class=\"c1\">\/\/ delay<\/span>\n                <span class=\"p\">}<\/span>\n            <span class=\"p\">},<\/span>\n            <span class=\"nn\">Direction<\/span><span class=\"p\">::<\/span><span class=\"n\">Down<\/span> <span class=\"k\">=&gt;<\/span> <span class=\"p\">{<\/span>\n                <span class=\"k\">if<\/span> <span class=\"o\">*<\/span><span class=\"n\">tilt_angle<\/span> <span class=\"o\">!=<\/span> <span class=\"mf\">90.<\/span> <span class=\"p\">{<\/span><span class=\"c1\">\/\/ constrain angle within range<\/span>\n                    <span class=\"o\">*<\/span><span class=\"n\">tilt_angle<\/span> <span class=\"o\">+=<\/span> <span class=\"mf\">1.<\/span><span class=\"p\">;<\/span><span class=\"c1\">\/\/ update tilt angle<\/span>\n                    <span class=\"nf\">position_kit_tilt<\/span><span class=\"p\">(<\/span><span class=\"n\">pwm<\/span><span class=\"p\">,<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"p\">);<\/span>\n                    <span class=\"n\">delay<\/span><span class=\"nf\">.delay_ms<\/span><span class=\"p\">(<\/span><span class=\"mi\">1<\/span><span class=\"p\">);<\/span><span class=\"c1\">\/\/ delay<\/span>\n                <span class=\"p\">}<\/span>\n            <span class=\"p\">},<\/span>\n            <span class=\"n\">_<\/span> <span class=\"k\">=&gt;<\/span> <span class=\"p\">{},<\/span>\n        <span class=\"p\">}<\/span>\n    <span class=\"p\">}<\/span>\n<span class=\"p\">}<\/span>\n\n<span class=\"k\">fn<\/span> <span class=\"nf\">position_kit_tilt<\/span><span class=\"p\">(<\/span><span class=\"n\">pwm<\/span><span class=\"p\">:<\/span> <span class=\"o\">&amp;<\/span><span class=\"n\">CH<\/span><span class=\"p\">,<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"p\">:<\/span> <span class=\"o\">&amp;<\/span><span class=\"k\">mut<\/span> <span class=\"nb\">f32<\/span><span class=\"p\">)<\/span> <span class=\"p\">{<\/span>\n    <span class=\"c1\">\/\/ facing up --&gt; at 90 deg<\/span>\n    <span class=\"c1\">\/\/ standing vertically --&gt; 0 deg <\/span>\n    <span class=\"n\">pwm<\/span><span class=\"nf\">.sweep<\/span><span class=\"p\">((<\/span><span class=\"mf\">90.<\/span> <span class=\"o\">-<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"nf\">.round<\/span><span class=\"p\">())<\/span> <span class=\"k\">as<\/span> <span class=\"nb\">u16<\/span><span class=\"p\">);<\/span>\n<span class=\"p\">}<\/span>\n<\/code><\/pre>\n<div class=\"highlight__panel js-actions-panel\">\n<div class=\"highlight__panel-action js-fullscreen-code-action\">\n    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-on\"><title>\u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M16 3h6v6h-2V5h-4V3zM2 3h6v2H4v4H2V3zm18 16v-4h2v6h-6v-2h4zM4 19h4v2H2v-6h2v4z\"\/>\n<\/svg><\/p>\n<p>    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-off\"><title>\u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M18 7h4v2h-6V3h2v4zM8 9H2V7h4V3h2v6zm10 8v4h-2v-6h6v2h-4zM8 15v6H6v-4H2v-2h6z\"\/>\n<\/svg><\/p>\n<\/div>\n<\/div>\n<\/div>\n<p>\u0645\u0627 \u0628\u0627\u06cc\u062f \u06cc\u06a9 \u0645\u062a\u063a\u06cc\u0631 \u0633\u0631\u0627\u0633\u0631\u06cc \u0645\u0639\u0631\u0641\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0634\u06cc\u0628 \u0628\u0647 \u0631\u0648\u0632 \u0634\u062f\u0647 \u0631\u0627 \u0646\u06af\u0647 \u0645\u06cc \u062f\u0627\u0631\u062f.<\/p>\n<div class=\"highlight js-code-highlight\">\n<pre class=\"highlight rust\"><code><span class=\"k\">static<\/span> <span class=\"n\">TILT<\/span><span class=\"p\">:<\/span> <span class=\"n\">Mutex<\/span><span class=\"o\">&lt;<\/span><span class=\"n\">RefCell<\/span><span class=\"o\">&lt;<\/span><span class=\"nb\">Option<\/span><span class=\"o\">&lt;<\/span><span class=\"nb\">f32<\/span><span class=\"o\">&gt;&gt;&gt;<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">Mutex<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"nn\">RefCell<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"nb\">None<\/span><span class=\"p\">));<\/span>\n<\/code><\/pre>\n<div class=\"highlight__panel js-actions-panel\">\n<div class=\"highlight__panel-action js-fullscreen-code-action\">\n    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-on\"><title>\u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M16 3h6v6h-2V5h-4V3zM2 3h6v2H4v4H2V3zm18 16v-4h2v6h-6v-2h4zM4 19h4v2H2v-6h2v4z\"\/>\n<\/svg><\/p>\n<p>    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-off\"><title>\u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M18 7h4v2h-6V3h2v4zM8 9H2V7h4V3h2v6zm10 8v4h-2v-6h6v2h-4zM8 15v6H6v-4H2v-2h6z\"\/>\n<\/svg><\/p>\n<\/div>\n<\/div>\n<\/div>\n<p>\u0622\u0646 \u0631\u0627 \u0645\u0642\u062f\u0627\u0631\u062f\u0647\u06cc \u0627\u0648\u0644\u06cc\u0647 \u06a9\u0646\u06cc\u062f \u0648 \u062f\u0631 \u0645\u062a\u063a\u06cc\u0631 \u0648\u0627\u0642\u0639\u06cc \u0622\u067e\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f. \u0633\u06cc\u0633\u062a\u0645 \u0628\u0627\u06cc\u062f \u0628\u0627 \u0642\u0633\u0645\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a \u0631\u0648 \u0628\u0647 \u0628\u0627\u0644\u0627 \u0634\u0631\u0648\u0639 \u0634\u0648\u062f.<\/p>\n<div class=\"highlight js-code-highlight\">\n<pre class=\"highlight rust\"><code><span class=\"k\">let<\/span> <span class=\"k\">mut<\/span> <span class=\"n\">tilt_angle<\/span> <span class=\"o\">=<\/span> <span class=\"mf\">90.<\/span><span class=\"p\">;<\/span> <span class=\"c1\">\/\/ initialize tilt angle i.e. kit facing up<\/span>\n\n<span class=\"nf\">position_tilt_kit<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">pwm2<\/span><span class=\"p\">,<\/span> <span class=\"o\">&amp;<\/span><span class=\"k\">mut<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"p\">);<\/span><span class=\"c1\">\/\/ start position of tilt<\/span>\n\n<span class=\"nn\">cortex_m<\/span><span class=\"p\">::<\/span><span class=\"nn\">interrupt<\/span><span class=\"p\">::<\/span><span class=\"nf\">free<\/span><span class=\"p\">(|<\/span><span class=\"n\">cs<\/span><span class=\"p\">|<\/span> <span class=\"p\">{<\/span>\n    <span class=\"n\">TILT<\/span><span class=\"nf\">.borrow<\/span><span class=\"p\">(<\/span><span class=\"n\">cs<\/span><span class=\"p\">)<\/span><span class=\"nf\">.replace<\/span><span class=\"p\">(<\/span><span class=\"nf\">Some<\/span><span class=\"p\">(<\/span><span class=\"n\">tilt_angle<\/span><span class=\"p\">));<\/span>\n<span class=\"p\">});<\/span>\n<\/code><\/pre>\n<div class=\"highlight__panel js-actions-panel\">\n<div class=\"highlight__panel-action js-fullscreen-code-action\">\n    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-on\"><title>\u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M16 3h6v6h-2V5h-4V3zM2 3h6v2H4v4H2V3zm18 16v-4h2v6h-6v-2h4zM4 19h4v2H2v-6h2v4z\"\/>\n<\/svg><\/p>\n<p>    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-off\"><title>\u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M18 7h4v2h-6V3h2v4zM8 9H2V7h4V3h2v6zm10 8v4h-2v-6h6v2h-4zM8 15v6H6v-4H2v-2h6z\"\/>\n<\/svg><\/p>\n<\/div>\n<\/div>\n<\/div>\n<h3><span class=\"ez-toc-section\" id=\"%D8%A8%D8%B1%D9%86%D8%A7%D9%85%D9%87\"><\/span>\n<p>  \u0628\u0631\u0646\u0627\u0645\u0647<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0627\u06a9\u0646\u0648\u0646 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0627\u0632 PWM \u062f\u0631 \u06a9\u062f \u0628\u0631\u0646\u0627\u0645\u0647 \u062e\u0648\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645. <\/p>\n<p>\u062f\u0631 <code>manual<\/code> \u0628\u062e\u0634 \u06a9\u062f \u0628\u0631\u0646\u0627\u0645\u0647\u060c \u062f\u0631 \u0632\u06cc\u0631 <code>Up<\/code>\u060c \u062e\u0637\u0648\u0637 \u0632\u06cc\u0631 \u0631\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\n<div class=\"highlight js-code-highlight\">\n<pre class=\"highlight rust\"><code><span class=\"nf\">tilt<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">pwm2<\/span><span class=\"p\">,<\/span> <span class=\"n\">delay<\/span><span class=\"nf\">.as_mut<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(),<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"nf\">.as_mut<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(),<\/span> <span class=\"nn\">Direction<\/span><span class=\"p\">::<\/span><span class=\"n\">Up<\/span><span class=\"p\">);<\/span>\n\n<span class=\"nd\">writeln!<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"k\">mut<\/span> <span class=\"n\">serialbuf<\/span><span class=\"p\">,<\/span> <span class=\"s\">\"tilt angle: {}\"<\/span><span class=\"p\">,<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">()<\/span><span class=\"nf\">.round<\/span><span class=\"p\">())<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">();<\/span>\n<span class=\"nf\">transmit_uart_data<\/span><span class=\"p\">(<\/span><span class=\"n\">uart_data<\/span><span class=\"nf\">.as_mut<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(),<\/span> <span class=\"n\">serialbuf<\/span><span class=\"p\">);<\/span>\n<\/code><\/pre>\n<div class=\"highlight__panel js-actions-panel\">\n<div class=\"highlight__panel-action js-fullscreen-code-action\">\n    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-on\"><title>\u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M16 3h6v6h-2V5h-4V3zM2 3h6v2H4v4H2V3zm18 16v-4h2v6h-6v-2h4zM4 19h4v2H2v-6h2v4z\"\/>\n<\/svg><\/p>\n<p>    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-off\"><title>\u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M18 7h4v2h-6V3h2v4zM8 9H2V7h4V3h2v6zm10 8v4h-2v-6h6v2h-4zM8 15v6H6v-4H2v-2h6z\"\/>\n<\/svg><\/p>\n<\/div>\n<\/div>\n<\/div>\n<p>\u0632\u06cc\u0631 <code>Down<\/code>:<\/p>\n<div class=\"highlight js-code-highlight\">\n<pre class=\"highlight rust\"><code><span class=\"nf\">tilt<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">pwm2<\/span><span class=\"p\">,<\/span> <span class=\"n\">delay<\/span><span class=\"nf\">.as_mut<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(),<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"nf\">.as_mut<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(),<\/span> <span class=\"nn\">Direction<\/span><span class=\"p\">::<\/span><span class=\"n\">Down<\/span><span class=\"p\">);<\/span>\n\n<span class=\"nd\">writeln!<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"k\">mut<\/span> <span class=\"n\">serialbuf<\/span><span class=\"p\">,<\/span> <span class=\"s\">\"tilt angle: {}\"<\/span><span class=\"p\">,<\/span> <span class=\"n\">tilt_angle<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">()<\/span><span class=\"nf\">.round<\/span><span class=\"p\">())<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">();<\/span>\n<span class=\"nf\">transmit_uart_data<\/span><span class=\"p\">(<\/span><span class=\"n\">uart_data<\/span><span class=\"nf\">.as_mut<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(),<\/span> <span class=\"n\">serialbuf<\/span><span class=\"p\">);<\/span>\n<\/code><\/pre>\n<div class=\"highlight__panel js-actions-panel\">\n<div class=\"highlight__panel-action js-fullscreen-code-action\">\n    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-on\"><title>\u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M16 3h6v6h-2V5h-4V3zM2 3h6v2H4v4H2V3zm18 16v-4h2v6h-6v-2h4zM4 19h4v2H2v-6h2v4z\"\/>\n<\/svg><\/p>\n<p>    <svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" class=\"highlight-action crayons-icon highlight-action--fullscreen-off\"><title>\u0627\u0632 \u062d\u0627\u0644\u062a \u062a\u0645\u0627\u0645 \u0635\u0641\u062d\u0647 \u062e\u0627\u0631\u062c \u0634\u0648\u06cc\u062f<\/title>\n    <path d=\"M18 7h4v2h-6V3h2v4zM8 9H2V7h4V3h2v6zm10 8v4h-2v-6h6v2h-4zM8 15v6H6v-4H2v-2h6z\"\/>\n<\/svg><\/p>\n<\/div>\n<\/div>\n<\/div>\n<h3><span class=\"ez-toc-section\" id=\"%D9%86%D8%AA%D8%A7%DB%8C%D8%AC\"><\/span>\n<p>  \u0646\u062a\u0627\u06cc\u062c<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0628\u0627 \u0645\u0631\u062a\u0628 \u06a9\u0631\u062f\u0646 \u0645\u062c\u062f\u062f \u06a9\u062f\u060c \u062f\u0631 \u0646\u0647\u0627\u06cc\u062a \u0628\u0647 \u0627\u06cc\u0646 \u0646\u0633\u062e\u0647 \u0646\u0647\u0627\u06cc\u06cc \u0645\u06cc \u0631\u0633\u06cc\u0645.<\/p>\n<p>\u0627\u06af\u0631 \u0622\u0646 \u0631\u0627 \u062f\u0631 Pico \u0627\u062c\u0631\u0627 \u06a9\u0646\u06cc\u062f\u060c \u0628\u0627\u06cc\u062f \u0628\u0628\u06cc\u0646\u06cc\u062f \u06a9\u0647 \u06a9\u06cc\u062a PTZ \u062f\u0631 \u0647\u0646\u06af\u0627\u0645 \u0631\u0648\u0634\u0646 \u0634\u062f\u0646 \u0631\u0648 \u0628\u0647 \u0628\u0627\u0644\u0627 \u0627\u0633\u062a \u0648 \u0628\u0633\u062a\u0647 \u0628\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0632 \u0628\u0631\u0646\u0627\u0645\u0647 \u0633\u0631\u06cc\u0627\u0644 \u0628\u0644\u0648\u062a\u0648\u062b\u060c \u0628\u0647 \u0633\u0645\u062a \u0628\u0627\u0644\u0627 \u06cc\u0627 \u067e\u0627\u06cc\u06cc\u0646 \u062d\u0631\u06a9\u062a \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<p>\u0628\u0627\u0644\u0627&#8230;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/media2.dev.to\/dynamic\/image\/width=800%2Cheight=%2Cfit=scale-down%2Cgravity=auto%2Cformat=auto\/https%3A%2F%2Fdev-to-uploads.s3.amazonaws.com%2Fuploads%2Farticles%2Fscjbai8ltd804jdhaxx0.gif\" alt=\"pwm-app-results-up\" loading=\"lazy\" width=\"400\" height=\"500\" title=\"\"><\/p>\n<p>\u067e\u0627\u06cc\u06cc\u0646&#8230;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/media2.dev.to\/dynamic\/image\/width=800%2Cheight=%2Cfit=scale-down%2Cgravity=auto%2Cformat=auto\/https%3A%2F%2Fdev-to-uploads.s3.amazonaws.com%2Fuploads%2Farticles%2Fzuojj0jbvvj8v4px1der.gif\" alt=\"pwm-app-results-down\" loading=\"lazy\" width=\"400\" height=\"500\" title=\"\"><\/p>\n<p>\u062f\u0631 \u0642\u0633\u0645\u062a \u0628\u0639\u062f\u06cc \u0639\u0645\u0644\u06a9\u0631\u062f \u067e\u0627\u0646 \u0631\u0627 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u067e\u0627\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0642\u0627\u062f\u0631 \u0645\u06cc \u0633\u0627\u0632\u062f \u062a\u0627 \u0628\u0627 \u0622\u0646 \u0647\u0645\u0627\u0647\u0646\u06af \u0634\u0648\u062f <code>theta<\/code> \u0627\u0632 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0646\u06af\u0627\u0647 \u0645\u0627<\/p>\n<\/p><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Summarize this content to 400 words in Persian Lang \u062d\u0631\u06a9\u062a \u0634\u06cc\u0628 \u06a9\u06cc\u062a PTZ \u0645\u0627 \u062a\u0648\u0633\u0637 PWM \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc \u0634\u0648\u062f. \u062f\u0631 \u0642\u0633\u0645\u062a \u0628\u0639\u062f\u06cc \u0628\u0647 \u0628\u0631\u0631\u0633\u06cc \u0645\u06a9\u0627\u0646\u06cc\u06a9 \u062d\u0631\u06a9\u062a \u062a\u0627\u0628\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u067e\u0631\u062f\u0627\u062e\u062a. \u062f\u0631 \u0642\u0633\u0645\u062a \u0642\u0628\u0644 \u062a\u0648\u0627\u0646\u0633\u062a\u06cc\u0645 \u0633\u0631\u0648\u0648 \u0631\u0627 \u062a\u0627 180 \u062f\u0631\u062c\u0647 \u062d\u0631\u06a9\u062a \u062f\u0647\u06cc\u0645. \u0645\u0627 \u0622\u0646 \u06a9\u062f \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u0648 \u062a\u0627\u0628\u0639\u06cc \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f &hellip;<\/p>\n","protected":false},"author":2,"featured_media":85941,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"fifu_image_url":"","fifu_image_alt":"","footnotes":""},"categories":[339],"tags":[],"class_list":["post-85940","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-dev"],"_links":{"self":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/posts\/85940","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/comments?post=85940"}],"version-history":[{"count":0,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/posts\/85940\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/media\/85941"}],"wp:attachment":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/media?parent=85940"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/categories?post=85940"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/tags?post=85940"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}