Pan Tilt Hat

Control pan and tilt motions using PCA9685-based PWM driver

Since R2022a

expand all in page
  • Raspberry Pi Pan Tilt Hat icon

Libraries:
Raspberry Pi Blockset / Basic

Description

Use the Pan Tilt Hat block to control the pan and tilt motions of hardware using the PCA-9685-based PWM I2C driver. This block accepts pan and tilt angles in the range –90 to 90 degrees. The PCA9685 driver controls the movement of the pan and tilt hardware module in two degree of freedom (DoF), namely along the horizontal and vertical axes, respectively.

Note

To generate code C/C++ code for this block, you must have an Embedded Coder® license.

Activate, Load, and Verify PCA9685 Kernel Module

Follow these steps to activate and load the PCA9685 kernel module on your Raspberry Pi® hardware and then use the Pan Tilt Hat block in your Simulink® model.

  1. Execute these commands on the MATLAB® Command Window to open the Raspberry Pi terminal.

    r=raspberrypi('<Raspberry Pi IP address>','<Raspberry Pi username>','<Raspberry Pi password>');
r.openShell

  2. Open the /boot/config.txt file in a text editor.

  3. To activate the PCA9685 kernel module, add this code to the /boot/config.txt file.

    dtoverlay=i2c-pwm-pca9685a

  4. Save and close the /boot/config.txt file.

  5. Reboot your Raspberry Pi.

  6. To load the PCA9685 kernel module on your Raspberry Pi, execute this code in the Raspberry Pi terminal.

    sudo modprobe pwm-pca9685

  7. To verify whether you have successfully loaded the PCA9685 module on your Raspberry Pi hardware, execute this code in the Raspberry Pi terminal.

    i2cdetect -y <i2c bus number>

    For example,

    i2cdetect -y 1

    Observe that the PCA9685 kernel module reserves an I2C address 0x40 for the pan tilt hardware, indicated by UU.PCA9685 Kernel Module in use on I2C bus

Examples

Configure and Calibrate Pan Tilt Hardware Using Raspberry Pi Pan Tilt HAT

Configure and Calibrate Pan Tilt Hardware Using Raspberry Pi Pan Tilt HAT

Configure and calibrate the pan and tilt hardware using the Pan Tilt HAT block from Raspberry Pi® Blockset.

Detect and Track Face Using Raspberry Pi Pan Tilt HAT

Detect and Track Face Using Raspberry Pi Pan Tilt HAT

Use the Pan Tilt HAT block from Raspberry Pi® Blockset to detect and track a face in a video frame. The example also tracks a face when a person tilts their head either left or right or moves toward or away from the camera. If the face is not visible or goes out of focus, the model tries to reacquire the face and then tracks the face. The model in this example can detect and track only one face at a time. You can also enable the proportional-integral-derivative (PID) controller to achieve a smooth motion of the pan and tilt hardware module for tracking the face.

Video Mosaicking Using Raspberry Pi Pan Tilt HAT

Video Mosaicking Using Raspberry Pi Pan Tilt HAT

Use the Pan Tilt HAT block from Raspberry Pi® Blockset to create a mosaic from a video sequence. Video mosaicking is the process of stitching video frames together to form a comprehensive view of a scene. The resulting mosaic image is a compact representation of the video data. This technique is often used in video compression and surveillance applications.

Ports

Input

expand all

Pan angle that the block receives from the pan and tilt hardware module.

Data Types: double

Tilt angle that the block receives from the pan and tilt hardware module.

Data Types: double

Parameters

expand all

Select the operating mode of the pan and tilt hardware module.

  • Pan and tilt — Pan and tilt hardware moves along horizontal and vertical axes.

  • Pan — Pan and tilt hardware moves along horizontal axis.

  • Tilt — Pan and tilt hardware moves along vertical axis.

Select the PWM frequency of the pan and tilt servo motors.

Enter the time interval at which the block receives the pan and tilt angles from the pan and tilt hardware module.

Pan Servo

Enter the PCA9685 PWM channel to drive the pan servo motor.

Enter the minimum and maximum PWM pulse duration that the PCA9685 driver sends to the pan servo motor.

Tilt Servo

Enter the PCA9685 PWM channel to drive the tilt servo motor.

Enter the minimum and maximum PWM pulse duration that the PCA9685 driver sends to the tilt servo motor.

Extended Capabilities

expand all

Version History

Introduced in R2022a

See Also

Topics