pano calculator 2 | Python Fiddle

import math
from RPIO import PWM

servo = PWM.Servo(0, 20000, 1)

#PWM.set_loglevel(PWM.LOG_LEVEL_DEBUG)
PWM.set_loglevel(PWM.LOG_LEVEL_ERRORS)

pan = 16
tilt = 20
cover = 21

sensorW = 23.2
sensorH = 15.4
focal = 16.0

minPan = 900
maxPan = 1860
minTilt = 1100
maxTilt = 1800

hFov = 2.0*(math.atan((sensorW/2.0) / focal))
vFov = 2.0 *(math.atan((sensorH/2.0) / focal))

hOverlap = 25.0
vOverlap = 25.0

hRot = hFov * ( 1 - ( hOverlap / 100 ) )
vRot = vFov * ( 1 - ( vOverlap / 100 ) )

hStep = 360/math.degrees(hRot)

vStep = 120/math.degrees(vRot)

if vStep > 2.0:
    #calculate extra row:
    rows = math.trunc(vStep)-1
else:
    rows = 1

numPhotos = math.trunc(hStep*vStep)+1

cols = math.ceil(hStep)
print "cols: "+str(cols)

panStep = round((maxPan-minPan)/cols, 1)
tiltStep = round((maxTilt-minTilt)/rows, 1)

def moveTilt(pos):
	if pos > maxTilt:
		servo.set_position(tilt, maxTilt)
	elif (pos < minTilt):
		servo.set_position(tilt, minTilt)
	else:
		servo.set_position(tilt, pos)

def movePan(pos):
	if pos > maxPan:
		servo.set_position(pan, maxPan)
	elif (pos < minPan):
		servo.set_position(pan, minPan)
	else:
		servo.set_position(pan, pos)

def step_range(start, end, step, rev=False):
    if rev == True:
    	while end > start:
            yield math.trunc(end)
            end -= step
    else:
        while start < end:
            yield math.trunc(start)
            start += step

def shootPano():
	try:
		rev = False
		i = 1
		for t in step_range(minTilt, maxTilt, tiltStep, False):
			moveTilt(t)
			if i%2==0:
				rev = True
			i += 1
			x = 1
			for p in step_range(minPan, maxPan, panStep, rev):
				movePan(p)
				print "Capturing image "+str(x)+" of row: "+str(i-1)
				x += 1
				print "click"
	except:
		return False
            
	return True

if shootPano() == True:
    print "All Done!"
else:
    print "Error shooting Panorama!"

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