Refactoring, utility funcs, simplification, bug fixes

Added logging functions.
Moved stepper motor target calculations into its own file. Added comments.
Used DayTime class for RATime and HATime.
Ensured RATime works correctly.
When moving an axis, the LCD displays progress via percent complete.
Fixed bug in LCD menu functions that didn't correctly print floats and caused a hang (!).
Re-added the old calculation code to verify new code works teh same way.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/a_inits.ino

@@ -99,7 +99,8 @@ String logString;
 //unsigned long timeWait;
 boolean isPulseGuiding = true;
 
-float onehour;
+unsigned long Zeit;
+float stepsPerHour;
 
 boolean pcControl = false;
 int currentSecs;
@@ -116,14 +117,14 @@ int tracking = 1;
 float trackingspeed;
 
 //RA stuff
-//float hourRA;
-//float minRA = 0;
-//float secRA = 0;
+int hourRA=0;
+int minRA = 0;
+int secRA = 0;
 float moveRA;
 int RAselect;
-//int hourRAprint;
-//int minRAprint;
-//int secRAprint;
+int hourRAprint;
+int minRAprint;
+int secRAprint;
 
 //DEC stuff
 int degreeDEC;
@@ -133,10 +134,15 @@ float moveDEC;
 int DECselect;
 int printdegDEC;
 
+//Hour correction
+int hourHA = 0;
+int minHA = 0;
 int HAselect;
-//int hHAcorrection;
-//int mHAcorrection = -5 ;  //wenn minus dann hHAcorrection -1
-//int sHAcorrection;
+int hHAcorrection;
+int mHAcorrection = -5 ;  //wenn minus dann hHAcorrection -1
+int sHAcorrection;
+int hourHAzeit;
+int minHAzeit;
 
 int heatselect;
 int RAheat = 0;

Software/Arduino code/OpenAstroTracker/b0_functions.ino

@@ -0,0 +1,84 @@
+void log(const char* input) {
+  Serial.println(input);
+  Serial.flush();
+}
+
+void logv(const char* input, ...) {
+  va_list argp;
+  va_start(argp, input);
+//  Serial.println("HERE");
+  Serial.println(formatArg(input, argp));
+  Serial.flush();
+  va_end(argp);
+  
+}
+
+String format(const char* input, ...) {
+  va_list argp;
+  va_start(argp, input);
+  String ret = formatArg(input, argp);
+  va_end(argp);
+  return ret;
+}
+
+String formatArg(const char* input, va_list args) {
+  char achBuffer[256];
+  char*p = achBuffer;
+
+  for (const char* i = input; *i != 0; i++) {
+    if (*i != '%') {
+      *p++ = *i;
+      continue;
+    }
+    i++;
+    switch (*i) {
+      case '%': {
+          *p++ = '%';
+        }
+        break;
+
+      case 'c': {
+          byte b = (byte) (va_arg(args, int) && 0x00FF);
+          *p++ = (char)b;
+        }
+        break;
+
+      case 's': {
+          char* s = va_arg(args, char*);
+          strcpy(p, s);
+          p += strlen(s);
+        }
+        break;
+
+      case 'd': {
+          String s = String((int)va_arg(args, int));
+          strcpy(p, s.c_str());
+          p += s.length();
+        }
+        break;
+
+      case 'l': {
+          String s = String((long)va_arg(args, long));
+          strcpy(p, s.c_str());
+          p += s.length();
+        }
+        break;
+
+      case 'f': {
+          float num = (float)va_arg(args, double);
+          String s = String(num, 4);
+          strcpy(p, s.c_str());
+          p += s.length();
+        }
+        break;
+
+      default: {
+          *p++ = *i;
+        }
+        break;
+    }
+  }
+
+  *p = '\0';
+  return String(achBuffer);
+}

Software/Arduino code/OpenAstroTracker/b1_menu.ino

@@ -157,7 +157,7 @@ class LcdMenu {
             break;
           case 's': _lcd->print(va_arg(args, char*)); break;
           case 'd': _lcd->print((int)va_arg(args, int)); break;
-          case 'f': _lcd->print((float)va_arg(args, float)); break;
+          case 'f': _lcd->print((float)va_arg(args, double)); break;
           default: _lcd->print((char)*i); break;
         }
       }
@@ -173,10 +173,10 @@ class LcdMenu {
     {
       int spaces = _columns - line.length();
       for (int i = 0; i < line.length(); i++) {
-        if (line[i] == ' > ') {
+        if (line[i] == '>') {
           _lcd->write(_rightArrow);
         }
-        else if (line[i] == ' < ') {
+        else if (line[i] == '<') {
           _lcd->write(_leftArrow);
         }
         else {
@@ -187,6 +187,7 @@ class LcdMenu {
       // Clear the rest of the display
       while (spaces > 0) {
         _lcd->print(" ");
+        spaces--;
       }
     }
 

Software/Arduino code/OpenAstroTracker/b2_daytime.ino

@@ -35,6 +35,18 @@ class DayTime {
       return secs;
     }
 
+    float getTotalHours() {
+      return 1.0f * getHours() + ((float)getMinutes() / 60.0f) + ((float)getSeconds() / 3600.0f);
+    }
+
+    float getTotalMinutes() {
+      return 60.0f * getHours() + (float)getMinutes() + ((float)getSeconds() / 60.0f);
+    }
+
+    float getTotalSeconds() {
+      return 3600.0f * getHours() + (float)getMinutes() * 60.0f + (float)getSeconds();
+    }
+
     int getTime(int& h, int& m, int& s) {
       h = hours;
       m = mins;

Software/Arduino code/OpenAstroTracker/b_setup.ino

@@ -10,18 +10,13 @@ void setup() {
   Serial.begin(9600);
   //BT.begin(9600);
 
-  Serial.println("Hello World!");
-
+  log("Hello World!");
+  
   lcd.begin(16, 2);
   lcd.createChar(0, DEG);
   lcd.createChar(1, min);
   lcd.createChar(2, sec);
 
-  pinMode(A1, OUTPUT);
-  pinMode(A2, OUTPUT);
-  pinMode(A3, OUTPUT);
-  pinMode(A4, OUTPUT);
-
   stepperRA.setMaxSpeed(RAspeed);
   stepperRA.setAcceleration(RAacceleration);
   stepperDEC.setMaxSpeed(DECspeed);
@@ -33,6 +28,10 @@ void setup() {
 
   inputcal = EEPROM.read(0);
   HATime = DayTime(EEPROM.read(1), EEPROM.read(2), 0);
+  hourHA = HATime.getHours();
+  minHA = HATime.getMinutes();
+
+  logv("HATime = %s  oldHA = %d:%d",HATime.ToString().c_str(), hourHA, minHA);
 
   lcdMenu.addItem("RAs", RA_Menu);
   lcdMenu.addItem("DEC", DEC_Menu);
@@ -44,5 +43,5 @@ void setup() {
   lcdMenu.addItem("CTRL", Control_Menu);
   lcdMenu.addItem("CAL", Calibration_Menu);
 
-  lcdMenu.setActive(HA_Menu);
+  lcdMenu.setActive(RA_Menu);
 }

Software/Arduino code/OpenAstroTracker/c5_calcStepperPos.ino

@@ -0,0 +1,45 @@
+void handleDECandRACalculations()
+{
+    float hourPos = RATime.getTotalHours();
+  // Map [0 to 24] range to [-12 to +12] range
+  if (hourPos > 12) {
+    hourPos = hourPos - 24;
+  }
+
+  // How many steps moves the RA ring one hour along (15degrees?)
+  stepsPerHour = (float(RAsteps) / 288.0) * RevSteps;
+
+  // Where do ww want to move RA to?
+  float moveRA = hourPos * stepsPerHour / 2;
+
+  // Where do we want to move DEC to?
+  moveDEC = (degreeDEC * float(DECsteps) + minDEC * (float(DECsteps) / 60.0f) + secDEC * (float(DECsteps) / 3600.0f));
+
+  // We can move 6 hours in either direction. Outside of that we need to flip directions.
+  float RALimit = (6.0f * stepsPerHour / 2);
+  
+  // If we reach the limit in the positive direction ...
+  if (moveRA > RALimit) {         
+    // ... turn both RA and DEC axis around 
+    float oldRA = moveRA;
+    moveRA -= long(12.0f * stepsPerHour / 2);
+    moveDEC = -moveDEC;
+    //Serial.println(format("> %s HRPos: %f  MoveRA: %f   newMoveRA: %f    RALimit: %f", RATime.ToString().c_str(), hourPos, oldRA, moveRA, RALimit));
+  } 
+  // If we reach the limit in the negative direction...
+  else if (moveRA < -RALimit) { 
+    // ... turn both RA and DEC axis around
+      float oldRA = moveRA;
+    moveRA += long(12.0f * stepsPerHour / 2);
+    moveDEC = -moveDEC;
+    //Serial.println(format("< %s HRPos: %f  MoveRA: %f   newMoveRA: %f    RALimit: %f", RATime.ToString().c_str(), hourPos, oldRA, moveRA, RALimit));
+  } else {
+    //Serial.println(format("= %s HRPos: %f  MoveRA: %f   newMoveRA: %f    RALimit: %f", RATime.ToString().c_str(), hourPos, moveRA, moveRA, RALimit));
+  }
+
+  // Since the Control menu does it's own stepping, don't move the axes.
+  if (lcdMenu.getActive() != Control_Menu) {
+    stepperRA.moveTo(-moveRA);
+    stepperDEC.moveTo(moveDEC);
+  }
+}