V1.6.31 - Updates

- Previous code didn't even compile.... QA much?
- Fixed Serial CM function to compile.
- Changed the guiding code slightly to not move to a target, but run at constant speed.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -75,8 +75,8 @@ void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, b
   _stepperRA = new AccelStepper(stepMode, pin1, pin2, pin3, pin4);
   _stepperRA->setMaxSpeed(maxSpeed);
   _stepperRA->setAcceleration(maxAcceleration);
-//  _maxRASpeed = maxSpeed;
-//  _maxRAAcceleration = maxAcceleration;
+  //  _maxRASpeed = maxSpeed;
+  //  _maxRAAcceleration = maxAcceleration;
 
   // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
   _stepperTRK = new AccelStepper(HALFSTEP, pin1, pin2, pin3, pin4);
@@ -264,25 +264,6 @@ void Mount::syncDEC(int degree, int minute, int second) {
   _stepperDEC->setCurrentPosition(targetDEC);
 }
 
-/////////////////////////////////
-//
-// stopGuiding
-//
-/////////////////////////////////
-void Mount::stopGuiding() {
-  _stepperDEC->stop();
-  while (_stepperDEC->isRunning()) {
-    _stepperDEC->run();
-  }
-  _stepperDEC->setMaxSpeed(_maxDECSpeed);
-  _stepperDEC->setAcceleration(_maxDECAcceleration);
-  _stepperTRK->setMaxSpeed(10);
-  _stepperTRK->setAcceleration(2500);
-  _stepperTRK->setSpeed(_trackingSpeed);
-  _stepperTRK->runSpeed();
-  _mountStatus &= ~STATUS_GUIDE_PULSE_MASK;
-}
-
 /////////////////////////////////
 //
 // startSlewingToTarget
@@ -307,44 +288,61 @@ void Mount::startSlewingToTarget() {
   _totalRAMove = 1.0f * _stepperRA->distanceToGo();
 }
 
+/////////////////////////////////
+//
+// stopGuiding
+//
+/////////////////////////////////
+void Mount::stopGuiding() {
+  _stepperDEC->stop();
+  while (_stepperDEC->isRunning()) {
+    _stepperDEC->run();
+  }
+
+  _stepperDEC->setMaxSpeed(_maxDECSpeed);
+  _stepperDEC->setAcceleration(_maxDECAcceleration);
+  _stepperTRK->setMaxSpeed(10);
+  _stepperTRK->setAcceleration(2500);
+  _stepperTRK->setSpeed(_trackingSpeed);
+  _mountStatus &= ~STATUS_GUIDE_PULSE_MASK;
+}
+
 /////////////////////////////////
 //
 // guidePulse
 //
 /////////////////////////////////
 void Mount::guidePulse(byte direction, int duration) {
-  // How many steps moves the RA ring one sidereal hour along. One sidereal hour moves just shy of 15 degrees
-  // NOTE: May need to adjust with _trackingSpeedCalibration
-  float decStepsPerSiderealHour = _stepsPerDECDegree * siderealDegreesInHour;
-  float decStepsForDuration = decStepsPerSiderealHour * duration / 3600000;
-  float raStepsPerSiderealHour = _stepsPerRADegree * siderealDegreesInHour;
-  float raStepsForDuration = raStepsPerSiderealHour * duration / 3600000;
-
+  // DEC stepper moves at sidereal rate in both directions
+  // RA stepper moves at either 2x sidereal rate or stops.
+  // TODO: Do we need to adjust with _trackingSpeedCalibration?
   float decTrackingSpeed = _stepsPerDECDegree * siderealDegreesInHour / 3600.0f;
   float raTrackingSpeed = _stepsPerRADegree * siderealDegreesInHour / 3600.0f;
 
-  long raPos = _stepperRA->currentPosition();
-  long decPos = _stepperDEC->currentPosition();
+  // TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
+  // If so, we need to remember where we were when we started the guide pulse. Then at the end,
+  // we can calculate the difference.
+  // long raPos = _stepperTRK->currentPosition();
+  // long decPos = _stepperDEC->currentPosition();
 
   switch (direction) {
     case NORTH:
+      _stepperDEC->setAcceleration(2500);
       _stepperDEC->setMaxSpeed(decTrackingSpeed * 1.2);
       _stepperDEC->setSpeed(decTrackingSpeed);
-      _stepperDEC->moveTo(decPos + decStepsForDuration);
       _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC ;
       break;
 
     case SOUTH:
+      _stepperDEC->setAcceleration(2500);
       _stepperDEC->setMaxSpeed(decTrackingSpeed * 1.2);
-      _stepperDEC->setSpeed(decTrackingSpeed);
-      _stepperDEC->moveTo(decPos - decStepsForDuration);
+      _stepperDEC->setSpeed(-decTrackingSpeed);
       _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC ;
       break;
 
     case WEST:
       _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2);
       _stepperTRK->setSpeed(raTrackingSpeed * 2);
-      _stepperTRK->moveTo(raPos + raStepsForDuration);
       _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
       break;
 
@@ -417,8 +415,8 @@ String Mount::mountStatusString() {
   if (_mountStatus & STATUS_PARKING) {
     disp = "PARKNG ";
   }
-  else if (isGuiding()){
-     disp = "GUIDING ";
+  else if (isGuiding()) {
+    disp = "GUIDING ";
   }
   else {
     if (_mountStatus & STATUS_TRACKING) disp += "TRK ";
@@ -861,8 +859,8 @@ void Mount::moveSteppersTo(float targetRA, float targetDEC) {
 //
 /////////////////////////////////
 void Mount::displayStepperPosition() {
-#ifndef HEADLESS_CLIENT  
- 
+#ifndef HEADLESS_CLIENT
+
   String disp ;
 
   if ((abs(_totalDECMove) > 0.001) && (abs(_totalRAMove) > 0.001)) {
@@ -926,13 +924,13 @@ void Mount::displayStepperPosition() {
 //
 /////////////////////////////////
 void Mount::displayStepperPositionThrottled() {
-#ifndef HEADLESS_CLIENT  
+#ifndef HEADLESS_CLIENT
   long elapsed = millis() - _lastDisplayUpdate;
   if (elapsed > DISPLAY_UPDATE_TIME) {
     displayStepperPosition();
     _lastDisplayUpdate = millis();
   }
- #endif
+#endif
 }
 
 /////////////////////////////////

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -16,7 +16,7 @@
 */
 #include "Globals.h"
 
-String version = "V1.6.30";
+String version = "V1.6.31";
 
 ///////////////////////////////////////////////////////////////////////////
 // Please see the Globals.h file for configuration of the firmware.

Software/Arduino code/OpenAstroTracker/f_serial.ino

@@ -221,8 +221,8 @@ void handleMeadeGetInfo(String inCmd) {
 /////////////////////////////
 void handleMeadeSyncControl(String inCmd) {
   if (inCmd[0] == 'M') {
-    mount.syncDEC(mount.targetDEC().getHours(), mount.targetDEC().getMinutes(), mount.targetDEC().getSeconds(),);
-    mount.syncRA(mount.targetRA().getHours(), mount.targetRA.getMinutes()(), mount.targetRA().getSeconds());
+    mount.syncDEC(mount.targetDEC().getHours(), mount.targetDEC().getMinutes(), mount.targetDEC().getSeconds());
+    mount.syncRA(mount.targetRA().getHours(), mount.targetRA().getMinutes(), mount.targetRA().getSeconds());
     Serial.print("NONE#");
   }
   else {