#------------------------------------------------------------------------------------# # Include source files #------------------------------------------------------------------------------------# source /home/ventana/source/submenu/analog_input_list.tcl source /home/ventana/source/submenu/analog_output_list.tcl #------------------------------------------------------------------------------------# # Initialize and set variable #------------------------------------------------------------------------------------# set cam .camera_popup set cam_timer 0 set cam_string "" set old_cam_string "" #------------------------------------------------------------------------------------# # Default channels and pid values when nothing are set #------------------------------------------------------------------------------------# set cam_shoulder_sine "Analog Input 15" set cam_shoulder_cosine "Analog Input 16" set cam_shoulder_offset 0 set cam_shoulder_command "Analog Input 7" set cam_shoulder_master_value 0 set cam_shoulder_fb_value 0 set cam_shoulder_servo "Analog Output 8" set cam_p_shoulder 1 set cam_i_shoulder 0 set cam_d_shoulder 0 set cam_pan_sine "Analog Input 11" set cam_pan_cosine "Analog Input 12" set cam_pan_offset 0 set cam_pan_command "Analog Input 5" set cam_pan_master_value 0 set cam_pan_fb_value 0 set cam_pan_servo "Analog Output 6" set cam_p_pan 1 set cam_i_pan 0 set cam_d_pan 0 set cam_tilt_sine "Analog Input 13" set cam_tilt_cosine "Analog Input 14" set cam_tilt_offset 0 set cam_tilt_command "Analog Input 6" set cam_tilt_master_value 0 set cam_tilt_fb_value 0 set cam_tilt_servo "Analog Output 7" set cam_p_tilt 1 set cam_i_tilt 0 set cam_d_tilt 0 set cam_time_constant [get_cam_time_constant] #------------------------------------------------------------------------------------# # This procedure create camera control display on the second screen #------------------------------------------------------------------------------------# proc camera_popup { } { global cam global cam_timer if [winfo exists $cam] { destroy $cam } global env set env(DISPLAY) :0 toplevel $cam -width 32c -height 15c wm title $cam "Camera Control" label $cam.labcamtitle \ -foreground #0000b0 -height 0 -relief ridge -text {Cam Control} \ -width 511 button $cam.butok -width 5 -height 3 \ -command {set cam_timer 0; send_down_camera; destroy $cam} -text OK label $cam.labshoulder \ -text Shoulder label $cam.labpan \ -text Pan label $cam.labtilt \ -text Tilt #------------------------------------------------------------------------------------# # SHOULDER #------------------------------------------------------------------------------------# frame $cam.shoulder_frame \ -borderwidth 2 -height 95 -relief groove -width 680 label $cam.shoulder_frame.labsine \ -text Sine label $cam.shoulder_frame.labcosine \ -text Cosine label $cam.shoulder_frame.laboffset \ -text Offset entry $cam.shoulder_frame.entsine \ -background white -textvariable cam_shoulder_sine -width 13 -state disabled entry $cam.shoulder_frame.entcosine \ -background white -textvariable cam_shoulder_cosine -width 13 -state disabled entry $cam.shoulder_frame.entoffset \ -background white -textvariable cam_shoulder_offset -width 13 label $cam.shoulder_frame.labcommand \ -text Command label $cam.shoulder_frame.labmaster \ -text Master label $cam.shoulder_frame.labfeedback \ -text FeedBack entry $cam.shoulder_frame.entcommand \ -background white -textvariable cam_shoulder_command -width 13 -state disabled entry $cam.shoulder_frame.entmaster \ -background #d9d9d9 -textvariable cam_shoulder_master_value -width 13 entry $cam.shoulder_frame.entfeedback \ -background #d9d9d9 -textvariable cam_shoulder_fb_value -width 13 label $cam.shoulder_frame.labservo \ -text Servo entry $cam.shoulder_frame.entservo \ -background white -textvariable cam_shoulder_servo -width 14 -state disabled label $cam.shoulder_frame.labtimeconst \ -text "Time Const" label $cam.shoulder_frame.labtimeconstunits \ -text "X 20mSec" entry $cam.shoulder_frame.enttimeconst \ -background white -textvariable cam_time_constant -width 10 label $cam.shoulder_frame.plabel \ -text P label $cam.shoulder_frame.ilabel \ -text I label $cam.shoulder_frame.dlabel \ -text D entry $cam.shoulder_frame.entp \ -background white -textvariable cam_p_shoulder -width 5 entry $cam.shoulder_frame.enti \ -background white -textvariable cam_i_shoulder -width 5 entry $cam.shoulder_frame.entd \ -background white -textvariable cam_d_shoulder -width 5 button $cam.shoulder_frame.butsine \ -command { analog_input_list $cam.shoulder_frame.entsine } \ -height 21 -text v -width 27 button $cam.shoulder_frame.butcosine \ -command { analog_input_list $cam.shoulder_frame.entcosine } \ -height 21 -text v -width 27 button $cam.shoulder_frame.butcommand \ -command { surf_analog_input_list $cam.shoulder_frame.entcommand } \ -height 21 -text v -width 27 button $cam.shoulder_frame.butservo \ -command { analog_output_list $cam.shoulder_frame.entservo } \ -height 21 -text v -width 27 #------------------------------------------------------------------------------------# # PAN #------------------------------------------------------------------------------------# frame $cam.pan_frame \ -borderwidth 2 -height 95 -relief groove -width 680 label $cam.pan_frame.labsine \ -text Sine label $cam.pan_frame.labcosine \ -text Cosine label $cam.pan_frame.laboffset \ -text Offset entry $cam.pan_frame.entsine \ -background white -textvariable cam_pan_sine -width 13 -state disabled entry $cam.pan_frame.entcosine \ -background white -textvariable cam_pan_cosine -width 13 -state disabled entry $cam.pan_frame.entoffset \ -background white -textvariable cam_pan_offset -width 13 label $cam.pan_frame.labcommand \ -text Command label $cam.pan_frame.labmaster \ -text Master label $cam.pan_frame.labfeedback \ -text Feedback entry $cam.pan_frame.entcommand \ -background white -textvariable cam_pan_command -width 13 -state disabled entry $cam.pan_frame.entmaster \ -background #d9d9d9 -textvariable cam_pan_master_value -width 13 entry $cam.pan_frame.entfeedback \ -background #d9d9d9 -textvariable cam_pan_fb_value -width 13 label $cam.pan_frame.labservo \ -text Servo entry $cam.pan_frame.entservo \ -background white -textvariable cam_pan_servo -width 14 -state disabled label $cam.pan_frame.plabel \ -text P label $cam.pan_frame.ilabel \ -text I label $cam.pan_frame.dlabel \ -text D entry $cam.pan_frame.entp \ -background white -textvariable cam_p_pan -width 5 entry $cam.pan_frame.enti \ -background white -textvariable cam_i_pan -width 5 entry $cam.pan_frame.entd \ -background white -textvariable cam_d_pan -width 5 button $cam.pan_frame.butsine \ -command { analog_input_list $cam.pan_frame.entsine } \ -height 21 -text v -width 27 button $cam.pan_frame.butcosine \ -command { analog_input_list $cam.pan_frame.entcosine } \ -height 21 -text v -width 27 button $cam.pan_frame.butcommand \ -command { surf_analog_input_list $cam.pan_frame.entcommand } \ -height 21 -text v -width 27 button $cam.pan_frame.butservo \ -command { analog_output_list $cam.pan_frame.entservo } \ -height 21 -text v -width 27 #------------------------------------------------------------------------------------# # TILT #------------------------------------------------------------------------------------# frame $cam.tilt_frame \ -borderwidth 2 -height 95 -relief groove -width 680 label $cam.tilt_frame.labsine \ -text Sine label $cam.tilt_frame.labcosine \ -text Cosine label $cam.tilt_frame.laboffset \ -text Offset entry $cam.tilt_frame.entsine \ -background white -textvariable cam_tilt_sine -width 13 -state disabled entry $cam.tilt_frame.entcosine \ -background white -textvariable cam_tilt_cosine -width 13 -state disabled entry $cam.tilt_frame.entoffset \ -background white -textvariable cam_tilt_offset -width 13 label $cam.tilt_frame.labcommand \ -text Command label $cam.tilt_frame.labmaster \ -text Master label $cam.tilt_frame.labfeedback \ -text Feedback entry $cam.tilt_frame.entcommand \ -background white -textvariable cam_tilt_command -width 13 -state disabled entry $cam.tilt_frame.entmaster \ -background #d9d9d9 -textvariable cam_tilt_master_value -width 13 entry $cam.tilt_frame.entfeedback \ -background #d9d9d9 -textvariable cam_tilt_fb_value -width 13 label $cam.tilt_frame.labservo \ -text Servo entry $cam.tilt_frame.entservo \ -background white -textvariable cam_tilt_servo -width 14 -state disabled label $cam.tilt_frame.plabel \ -text P label $cam.tilt_frame.ilabel \ -text I label $cam.tilt_frame.dlabel \ -text D entry $cam.tilt_frame.entp \ -background white -textvariable cam_p_tilt -width 5 entry $cam.tilt_frame.enti \ -background white -textvariable cam_i_tilt -width 5 entry $cam.tilt_frame.entd \ -background white -textvariable cam_d_tilt -width 5 button $cam.tilt_frame.butsine \ -command { analog_input_list $cam.tilt_frame.entsine } \ -height 21 -text v -width 27 button $cam.tilt_frame.butcosine \ -command { analog_input_list $cam.tilt_frame.entcosine } \ -height 21 -text v -width 27 button $cam.tilt_frame.butcommand \ -command { surf_analog_input_list $cam.tilt_frame.entcommand } \ -height 21 -text v -width 27 button $cam.tilt_frame.butservo \ -command { analog_output_list $cam.tilt_frame.entservo } \ -height 21 -text v -width 27 #------------------------------------------------------------------------------------# # SETTING GEOMETRY #------------------------------------------------------------------------------------# place $cam.labcamtitle -x 10 -y 10 -width 760 -height 20 place $cam.shoulder_frame -x 80 -y 60 place $cam.pan_frame -x 80 -y 160 place $cam.tilt_frame -x 80 -y 260 place $cam.labshoulder -x 5 -y 80 place $cam.labpan -x 5 -y 180 place $cam.labtilt -x 5 -y 280 #------------------------------------------------------------------------------------# # SHOULDER #------------------------------------------------------------------------------------# #------------------------------------------------------------------------------------# # Shoulder COLUMN 1 #------------------------------------------------------------------------------------# place $cam.shoulder_frame.labsine \ -x 15 -y 10 -anchor nw -bordermode ignore place $cam.shoulder_frame.labcosine \ -x 5 -y 35 -anchor nw -bordermode ignore place $cam.shoulder_frame.laboffset \ -x 5 -y 60 -anchor nw -bordermode ignore place $cam.shoulder_frame.entsine \ -x 55 -y 10 -anchor nw -bordermode ignore place $cam.shoulder_frame.entcosine \ -x 55 -y 35 -anchor nw -bordermode ignore place $cam.shoulder_frame.entoffset \ -x 55 -y 60 -anchor nw -bordermode ignore place $cam.shoulder_frame.butsine \ -x 155 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore place $cam.shoulder_frame.butcosine \ -x 155 -y 35 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Shoulder COLUMN 2 #------------------------------------------------------------------------------------# place $cam.shoulder_frame.labcommand \ -x 190 -y 10 -anchor nw -bordermode ignore place $cam.shoulder_frame.entcommand \ -x 255 -y 10 -anchor nw -bordermode ignore place $cam.shoulder_frame.labmaster \ -x 200 -y 35 -anchor nw -bordermode ignore place $cam.shoulder_frame.entmaster \ -x 255 -y 35 -anchor nw -bordermode ignore place $cam.shoulder_frame.labfeedback \ -x 190 -y 60 -anchor nw -bordermode ignore place $cam.shoulder_frame.entfeedback \ -x 255 -y 60 -anchor nw -bordermode ignore place $cam.shoulder_frame.butcommand \ -x 355 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Shoulder COLUMN 3 #------------------------------------------------------------------------------------# place $cam.shoulder_frame.labservo \ -x 400 -y 10 -anchor nw -bordermode ignore place $cam.shoulder_frame.entservo \ -x 445 -y 10 -anchor nw -bordermode ignore place $cam.shoulder_frame.butservo \ -x 545 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore place $cam.shoulder_frame.labtimeconst \ -x 370 -y 60 -anchor nw -bordermode ignore place $cam.shoulder_frame.labtimeconstunits \ -x 520 -y 60 -anchor nw -bordermode ignore place $cam.shoulder_frame.enttimeconst \ -x 445 -y 60 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Shoulder COLUMN 4 #------------------------------------------------------------------------------------# place $cam.shoulder_frame.plabel \ -x 600 -y 10 place $cam.shoulder_frame.ilabel \ -x 600 -y 35 place $cam.shoulder_frame.dlabel \ -x 600 -y 60 place $cam.shoulder_frame.entp \ -x 620 -y 10 place $cam.shoulder_frame.enti \ -x 620 -y 35 place $cam.shoulder_frame.entd \ -x 620 -y 60 #------------------------------------------------------------------------------------# # PAN #------------------------------------------------------------------------------------# #------------------------------------------------------------------------------------# # Pan COLUMN 1 #------------------------------------------------------------------------------------# place $cam.pan_frame.labsine \ -x 15 -y 10 -anchor nw -bordermode ignore place $cam.pan_frame.labcosine \ -x 5 -y 35 -anchor nw -bordermode ignore place $cam.pan_frame.laboffset \ -x 5 -y 60 -anchor nw -bordermode ignore place $cam.pan_frame.entsine \ -x 55 -y 10 -anchor nw -bordermode ignore place $cam.pan_frame.entcosine \ -x 55 -y 35 -anchor nw -bordermode ignore place $cam.pan_frame.entoffset \ -x 55 -y 60 -anchor nw -bordermode ignore place $cam.pan_frame.butsine \ -x 155 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore place $cam.pan_frame.butcosine \ -x 155 -y 35 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Pan COLUMN 2 #------------------------------------------------------------------------------------# place $cam.pan_frame.labcommand \ -x 190 -y 10 -anchor nw -bordermode ignore place $cam.pan_frame.entcommand \ -x 255 -y 10 -anchor nw -bordermode ignore place $cam.pan_frame.labmaster \ -x 200 -y 35 -anchor nw -bordermode ignore place $cam.pan_frame.entmaster \ -x 255 -y 35 -anchor nw -bordermode ignore place $cam.pan_frame.labfeedback \ -x 190 -y 60 -anchor nw -bordermode ignore place $cam.pan_frame.entfeedback \ -x 255 -y 60 -anchor nw -bordermode ignore place $cam.pan_frame.butcommand \ -x 355 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Pan COLUMN 3 #------------------------------------------------------------------------------------# place $cam.pan_frame.labservo \ -x 400 -y 10 -anchor nw -bordermode ignore place $cam.pan_frame.entservo \ -x 445 -y 10 -anchor nw -bordermode ignore place $cam.pan_frame.butservo \ -x 545 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Pan COLUMN 4 #------------------------------------------------------------------------------------# place $cam.pan_frame.plabel \ -x 600 -y 10 place $cam.pan_frame.ilabel \ -x 600 -y 35 place $cam.pan_frame.dlabel \ -x 600 -y 60 place $cam.pan_frame.entp \ -x 620 -y 10 place $cam.pan_frame.enti \ -x 620 -y 35 place $cam.pan_frame.entd \ -x 620 -y 60 #------------------------------------------------------------------------------------# # TILT #------------------------------------------------------------------------------------# #------------------------------------------------------------------------------------# # Tilt COLUMN 1 #------------------------------------------------------------------------------------# place $cam.tilt_frame.labsine \ -x 15 -y 10 -anchor nw -bordermode ignore place $cam.tilt_frame.labcosine \ -x 5 -y 35 -anchor nw -bordermode ignore place $cam.tilt_frame.laboffset \ -x 5 -y 60 -anchor nw -bordermode ignore place $cam.tilt_frame.entsine \ -x 55 -y 10 -anchor nw -bordermode ignore place $cam.tilt_frame.entcosine \ -x 55 -y 35 -anchor nw -bordermode ignore place $cam.tilt_frame.entoffset \ -x 55 -y 60 -anchor nw -bordermode ignore place $cam.tilt_frame.butsine \ -x 155 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore place $cam.tilt_frame.butcosine \ -x 155 -y 35 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Tilt COLUMN 2 #------------------------------------------------------------------------------------# place $cam.tilt_frame.labcommand \ -x 190 -y 10 -anchor nw -bordermode ignore place $cam.tilt_frame.entcommand \ -x 255 -y 10 -anchor nw -bordermode ignore place $cam.tilt_frame.labmaster \ -x 200 -y 35 -anchor nw -bordermode ignore place $cam.tilt_frame.entmaster \ -x 255 -y 35 -anchor nw -bordermode ignore place $cam.tilt_frame.labfeedback \ -x 190 -y 60 -anchor nw -bordermode ignore place $cam.tilt_frame.entfeedback \ -x 255 -y 60 -anchor nw -bordermode ignore place $cam.tilt_frame.butcommand \ -x 355 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Tilt COLUMN 3 #------------------------------------------------------------------------------------# place $cam.tilt_frame.labservo \ -x 400 -y 10 -anchor nw -bordermode ignore place $cam.tilt_frame.entservo \ -x 445 -y 10 -anchor nw -bordermode ignore place $cam.tilt_frame.butservo \ -x 545 -y 10 -width 27 -height 21 -anchor nw -bordermode ignore #------------------------------------------------------------------------------------# # Tilt COLUMN 4 #------------------------------------------------------------------------------------# place $cam.tilt_frame.plabel \ -x 600 -y 10 place $cam.tilt_frame.ilabel \ -x 600 -y 35 place $cam.tilt_frame.dlabel \ -x 600 -y 60 place $cam.tilt_frame.entp \ -x 620 -y 10 place $cam.tilt_frame.enti \ -x 620 -y 35 place $cam.tilt_frame.entd \ -x 620 -y 60 place $cam.butok -x 350 -y 370 #------------------------------------------------------------------------------------# # BINDING #------------------------------------------------------------------------------------# #------------------------------------------------------------------------------------# # Shoulder #------------------------------------------------------------------------------------# bind $cam.shoulder_frame.entp {send_down_camera} bind $cam.shoulder_frame.enti {send_down_camera} bind $cam.shoulder_frame.entd {send_down_camera} bind $cam.shoulder_frame.entoffset { send_down_camera } bind $cam.shoulder_frame.enttimeconst { send_down_camera } #------------------------------------------------------------------------------------# # Pan #------------------------------------------------------------------------------------# bind $cam.pan_frame.entp {send_down_camera} bind $cam.pan_frame.enti {send_down_camera} bind $cam.pan_frame.entd {send_down_camera} bind $cam.pan_frame.entoffset { send_down_camera } #------------------------------------------------------------------------------------# # Tilt #------------------------------------------------------------------------------------# bind $cam.tilt_frame.entp {send_down_camera} bind $cam.tilt_frame.enti {send_down_camera} bind $cam.tilt_frame.entd {send_down_camera} bind $cam.tilt_frame.entoffset { send_down_camera } #------------------------------------------------------------------------------------# # Loop to update master and feedback value #------------------------------------------------------------------------------------# set cam_timer 1 loop_master_feedback_cam # end of proc "cam_control_popup" } #------------------------------------------------------------------------------------# # Loop to update master and feedback value #------------------------------------------------------------------------------------# proc loop_master_feedback_cam { } { global cam cam_timer global cam_shoulder_master_value cam_shoulder_fb_value global cam_pan_master_value cam_pan_fb_value global cam_tilt_master_value cam_tilt_fb_value set temp 0 if { ![winfo exists $cam] || $cam_timer == 0} {return} #puts "camera_popup.tcl: updating camera master and feedback " set mf [ret_camera_string] #puts "camera_popup.tcl : mf is $mf" set mf_list [ split $mf | ] set cam_shoulder_master_value [expr ([lindex $mf_list 0] - 180) ] set cam_shoulder_fb_value [lindex $mf_list 1] set cam_pan_master_value [expr ([lindex $mf_list 2] - 180) ] set cam_pan_fb_value [lindex $mf_list 3] set cam_tilt_master_value [expr ([lindex $mf_list 4] - 180) ] set cam_tilt_fb_value [lindex $mf_list 5] after 500 [list loop_master_feedback_cam] } #------------------------------------------------------------------------------------# # This procedure will set the new variables and send them down to the sub #------------------------------------------------------------------------------------# proc send_down_camera { } { global cam cam_string old_cam_string cam_timer global cam_shoulder_sine cam_shoulder_cosine cam_shoulder_offset cam_shoulder_command cam_shoulder_master_value cam_shoulder_fb_value cam_shoulder_servo cam_p_shoulder cam_i_shoulder cam_d_shoulder global cam_pan_sine cam_pan_cosine cam_pan_offset cam_pan_command cam_pan_master_value cam_pan_fb_value cam_pan_servo cam_p_pan cam_i_pan cam_d_pan global cam_tilt_sine cam_tilt_cosine cam_tilt_offset cam_tilt_command cam_tilt_master_value cam_tilt_fb_value cam_tilt_servo cam_p_tilt cam_i_tilt cam_d_tilt global cam_time_constant set cam_shoulder_master_value 0 set cam_shoulder_fb_value 0 set cam_pan_master_value 0 set cam_pan_fb_value 0 set cam_tilt_master_value 0 set cam_tilt_fb_value 0 set a1 [lindex $cam_shoulder_sine 2] set a2 [lindex $cam_shoulder_cosine 2] set a3 [lindex $cam_shoulder_command 2] set a4 [lindex $cam_shoulder_servo 2] set b1 [lindex $cam_pan_sine 2] set b2 [lindex $cam_pan_cosine 2] set b3 [lindex $cam_pan_command 2] set b4 [lindex $cam_pan_servo 2] set c1 [lindex $cam_tilt_sine 2] set c2 [lindex $cam_tilt_cosine 2] set c3 [lindex $cam_tilt_command 2] set c4 [lindex $cam_tilt_servo 2] if { $a1 == "" || $a2 == "" || $a3 == "" || $a4 == "" || $b1 == "" || $b2 == "" || $b3 == "" \ || $b4 == "" || $c1 == "" || $c2 == "" || $c3 == "" || $c4 == "" } { set status [tk_dialog .cam_warning { } {Some of the fields are empty. Close the Camera Control window anyway ?} warning 0 {Yes } { No} ] switch $status { 0 {set cam_timer 0; destroy $cam; return } 1 {return} } } set cam_string "$a1|$a2|$cam_shoulder_offset|$a3|$cam_shoulder_master_value|$cam_shoulder_fb_value|$a4|$cam_p_shoulder|$cam_i_shoulder|$cam_d_shoulder|$b1|$b2|$cam_pan_offset|$b3|$cam_pan_master_value|$cam_pan_fb_value|$b4|$cam_p_pan|$cam_i_pan|$cam_d_pan|$c1|$c2|$cam_tilt_offset|$c3|$cam_tilt_master_value|$cam_tilt_fb_value|$c4|$cam_p_tilt|$cam_i_tilt|$cam_d_tilt" set old_cam_string $cam_string #------------------------------------------------------------------------------------# # Save the new values needed to be send down in database and to the sub #------------------------------------------------------------------------------------# set_camera $a1 $a2 $cam_shoulder_offset $a3 $cam_shoulder_master_value $cam_shoulder_fb_value $a4 $cam_p_shoulder $cam_i_shoulder $cam_d_shoulder $b1 $b2 $cam_pan_offset $b3 $cam_pan_master_value $cam_pan_fb_value $b4 $cam_p_pan $cam_i_pan $cam_d_pan $c1 $c2 $cam_tilt_offset $c3 $cam_tilt_master_value $cam_tilt_fb_value $c4 $cam_p_tilt $cam_i_tilt $cam_d_tilt send_cam_time_constant $cam_time_constant #------------------------------------------------------------------------------------# # save all the information as a single string so it's easier when we want to # write it to configuration file #------------------------------------------------------------------------------------# saving_cam_string $cam_string }