mump to 1.7.01

Author: openastrotech

Software/Arduino code/OpenAstroTracker/Globals.h

@@ -13,7 +13,7 @@ void EEPROMupdate(int loc, byte val);
 #define DISPLAY_UPDATE_TIME 200
 
 // Stepper selection ///////////
-#define RA_Stepper_TYPE  1    // 28BYJ-48 = 0   |   NEMA = 1
+#define RA_Stepper_TYPE  0     // 28BYJ-48 = 0   |   NEMA = 1
 #define DEC_Stepper_TYPE  0    // 28BYJ-48 = 0   |   NEMA = 1
 
 // Make some variables in the sketch files available to the C++ code.

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -67,7 +67,7 @@ Mount::Mount(int stepsPerRADegree, int stepsPerDECDegree, LcdMenu* lcdMenu) {
   _stepperWasRunning = false;
   _totalDECMove = 0;
   _totalRAMove = 0;
-#if RA_Stepper_TYPE == 1
+#if RA_Stepper_TYPE == 0
   _backlashCorrectionSteps = 16;
 #else
   _backlashCorrectionSteps = 0;
@@ -147,36 +147,36 @@ void Mount::writePersistentData(int which, int val)
   }
   switch (which) {
     case RA_STEPS:
-      {
-        // ... set bit 0 to indicate RA value has been written to 6/7
-        flag |= 0x01;
-        loByteLocation = 6;
-        hiByteLocation = 7;
-      }
-      break;
+    {
+      // ... set bit 0 to indicate RA value has been written to 6/7
+      flag |= 0x01;
+      loByteLocation = 6;
+      hiByteLocation = 7;
+    }
+    break;
     case DEC_STEPS:
-      {
-        // ... set bit 1 to indicate DEC value has been written to 8/9
-        flag |= 0x02;
-        loByteLocation = 8;
-        hiByteLocation = 9;
-      }
-      break;
+    {
+      // ... set bit 1 to indicate DEC value has been written to 8/9
+      flag |= 0x02;
+      loByteLocation = 8;
+      hiByteLocation = 9;
+    }
+    break;
     case SPEED_FACTOR_DECIMALS:
-      {
-        // ... set bit 2 to indicate speed factor value has been written to 0/3
-        flag |= 0x04;
-        loByteLocation = 0;
-        hiByteLocation = 3;
-      }
+    {
+      // ... set bit 2 to indicate speed factor value has been written to 0/3
+      flag |= 0x04;
+      loByteLocation = 0;
+      hiByteLocation = 3;
+    }
     case BACKLASH_CORRECTION:
-      {
-        // ... set bit 2 to indicate speed factor value has been written to 0/3
-        flag |= 0x08;
-        loByteLocation = 10;
-        hiByteLocation = 11;
-      }
-      break;
+    {
+      // ... set bit 2 to indicate speed factor value has been written to 0/3
+      flag |= 0x08;
+      loByteLocation = 10;
+      hiByteLocation = 11;
+    }
+    break;
   }
 
 
@@ -192,7 +192,6 @@ void Mount::writePersistentData(int which, int val)
 // configureRAStepper
 //
 /////////////////////////////////
-
 #if RA_Stepper_TYPE == 0    // 28BYJ
 void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
 {
@@ -216,6 +215,7 @@ void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, b
   _stepperTRK->setAcceleration(2500);
 }
 #endif
+
 #if RA_Stepper_TYPE == 1    //NEMA
 void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
 {
@@ -237,8 +237,7 @@ void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed
 // configureDECStepper
 //
 /////////////////////////////////
-
-#if DEC_Stepper_TYPE == 0
+#if DEC_Stepper_TYPE == 0   // 28BYJ
 void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
 {
 #if NORTHERN_HEMISPHERE
@@ -252,7 +251,8 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3,
   _maxDECAcceleration = maxAcceleration;
 }
 #endif
-#if DEC_Stepper_TYPE == 1
+
+#if DEC_Stepper_TYPE == 1   // NEMA
 void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
 {
   _stepperDEC = new AccelStepper(stepMode, pin2, pin1);
@@ -262,7 +262,6 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpee
   _maxDECAcceleration = maxAcceleration;
 }
 #endif
-
 /////////////////////////////////
 //
 // getSpeedCalibration
@@ -373,7 +372,7 @@ const DayTime Mount::HA() const {
 #ifdef DEBUG_MODE
   logv("Mount: Get HA.");
   logv("Mount: Polaris adjust: %s", DayTime(PolarisRAHour, PolarisRAMinute, PolarisRASecond).ToString());
-#endif
+#endif 
   DayTime ha = _LST;
 #ifdef DEBUG_MODE
   logv("Mount: LST: %s", _LST.ToString());
@@ -534,7 +533,7 @@ const DegreeTime Mount::currentDEC() const {
 // syncPosition
 //
 /////////////////////////////////
-// Set the current RA and DEC position to be the given coordinate. We do this by settign the stepper motor coordinate
+// Set the current RA and DEC position to be the given coordinate. We do this by settign the stepper motor coordinate 
 // to be at the calculated positions (that they would be if we were slewing there).
 void Mount::syncPosition(int raHour, int raMinute, int raSecond, int decDegree, int decMinute, int decSecond)
 {
@@ -611,30 +610,30 @@ void Mount::guidePulse(byte direction, int duration) {
 
   switch (direction) {
     case NORTH:
-      _stepperDEC->setAcceleration(2500);
-      _stepperDEC->setMaxSpeed(decTrackingSpeed * 1.2);
-      _stepperDEC->setSpeed(decTrackingSpeed);
-      _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
-      break;
+    _stepperDEC->setAcceleration(2500);
+    _stepperDEC->setMaxSpeed(decTrackingSpeed * 1.2);
+    _stepperDEC->setSpeed(decTrackingSpeed);
+    _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
+    break;
 
     case SOUTH:
-      _stepperDEC->setAcceleration(2500);
-      _stepperDEC->setMaxSpeed(decTrackingSpeed * 1.2);
-      _stepperDEC->setSpeed(-decTrackingSpeed);
-      _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
-      break;
+    _stepperDEC->setAcceleration(2500);
+    _stepperDEC->setMaxSpeed(decTrackingSpeed * 1.2);
+    _stepperDEC->setSpeed(-decTrackingSpeed);
+    _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
+    break;
 
     case WEST:
-      _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2);
-      _stepperTRK->setSpeed(raTrackingSpeed * 2);
-      _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
-      break;
+    _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2);
+    _stepperTRK->setSpeed(raTrackingSpeed * 2);
+    _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
+    break;
 
     case EAST:
-      _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2);
-      _stepperTRK->setSpeed(0);
-      _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
-      break;
+    _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2);
+    _stepperTRK->setSpeed(0);
+    _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
+    break;
   }
 
   _guideEndTime = millis() + duration;
@@ -654,43 +653,43 @@ void Mount::runDriftAlignmentPhase(int direction, int durationSecs) {
   float speed = 400.0 / durationSecs;
   switch (direction) {
     case EAST:
-      // Move 400 steps east at the calculated speed, synchronously
-      _stepperRA->setAcceleration(1500);
-      _stepperRA->setMaxSpeed(speed);
-      _stepperRA->move(400);
-      while (_stepperRA->run()) {
-        yield();
-      }
+    // Move 400 steps east at the calculated speed, synchronously
+    _stepperRA->setAcceleration(1500);
+    _stepperRA->setMaxSpeed(speed);
+    _stepperRA->move(400);
+    while (_stepperRA->run()) {
+      yield();
+    }
 
-      // Overcome the gearing gap
-      _stepperRA->setMaxSpeed(300);
-      _stepperRA->move(-20);
-      while (_stepperRA->run()) {
-        yield();
-      }
-      break;
+    // Overcome the gearing gap
+    _stepperRA->setMaxSpeed(300);
+    _stepperRA->move(-20);
+    while (_stepperRA->run()) {
+      yield();
+    }
+    break;
 
     case WEST:
-      // Move 400 steps west at the calculated speed, synchronously
-      _stepperRA->setMaxSpeed(speed);
-      _stepperRA->move(-400);
-      while (_stepperRA->run()) {
-        yield();
-      }
-      break;
+    // Move 400 steps west at the calculated speed, synchronously
+    _stepperRA->setMaxSpeed(speed);
+    _stepperRA->move(-400);
+    while (_stepperRA->run()) {
+      yield();
+    }
+    break;
 
     case 0:
-      // Fix the gearing to go back the other way
-      _stepperRA->setMaxSpeed(300);
-      _stepperRA->move(20);
-      while (_stepperRA->run()) {
-        yield();
-      }
+    // Fix the gearing to go back the other way
+    _stepperRA->setMaxSpeed(300);
+    _stepperRA->move(20);
+    while (_stepperRA->run()) {
+      yield();
+    }
 
-      // Re-configure the stepper to the correct parameters.
-      _stepperRA->setAcceleration(_maxRAAcceleration);
-      _stepperRA->setMaxSpeed(_maxRASpeed);
-      break;
+    // Re-configure the stepper to the correct parameters.
+    _stepperRA->setAcceleration(_maxRAAcceleration);
+    _stepperRA->setMaxSpeed(_maxRASpeed);
+    break;
   }
 }
 
@@ -753,7 +752,7 @@ void Mount::park() {
 //
 // goHome
 //
-// Synchronously moves mount to home position
+// Synchronously moves mount to home position 
 /////////////////////////////////
 void Mount::goHome()
 {
@@ -1040,7 +1039,7 @@ void Mount::waitUntilStopped(byte direction) {
   while (((direction & (EAST | WEST)) && _stepperRA->isRunning())
          || ((direction & (NORTH | SOUTH)) && _stepperDEC->isRunning())
          || ((direction & TRACKING) && (((_mountStatus & STATUS_TRACKING) == 0) && _stepperTRK->isRunning()))
-        ) {
+         ) {
     loop();
     yield();
   }
@@ -1275,7 +1274,7 @@ void Mount::setTargetToHome() {
   // Set DEC to pole
   _targetDEC.set(0, 0, 0);
   _slewingToHome = true;
-  // Stop the tracking stepper
+  // Stop the tracking stepper 
   stopSlewing(TRACKING);
 }
 
@@ -1335,11 +1334,12 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
   float stepsPerSiderealHour = _stepsPerRADegree * siderealDegreesInHour;
 
   // Where do we want to move RA to?
-#if RA_Stepper_TYPE == 0
+#if RA_Stepper_TYPE == 0  
   float moveRA = hourPos * stepsPerSiderealHour / 2;
 #else
   float moveRA = hourPos * stepsPerSiderealHour;
 #endif
+
   // Where do we want to move DEC to?
   // the variable targetDEC 0deg for the celestial pole (90deg), and goes negative only.
   float moveDEC = -_targetDEC.getTotalDegrees() * _stepsPerDECDegree;
@@ -1355,6 +1355,7 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 #else
   float RALimit = (6.0f * stepsPerSiderealHour);
 #endif
+
   // If we reach the limit in the positive direction ...
   if (moveRA > RALimit) {
 #ifdef DEBUG_MODE