Major refactor

- Moved each menu into their own file
- Moved utitlity functions into their own file
- Created functions to handle key processing and display in those files
- Added CTRL menu to allow free movement of the steppers (and to calibrate to zero point (celestial pole)). Use SELECT/LEFT to start moving RA, UP/DOWN to start moving DEC, click again to stop)
- Added HOME menu to return to zero point (celestial pole)
- Made CAL input speed up the longer you hold it down
- Made HEAT menu optional
- Added 'splashscreen' on startup
- Allowed some debug code to be excluded from compilation
- Fixed tracker stepper not being stepped all the time
- Added some limits to stepper movements to prevent physical damage (DEC requires config for latitudes far away from 47N)
- Added code to move and stop steppers in both blocking and non-blocking ways, allowing for correct deceleration.
- Added status displays for all movements (percentage for RA/DEC, stepper position for CTRL)
- Added lots of comments

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -1,7 +1,7 @@
 /*
   =======================================================================================================================================
 
-    Version 1.2.4
+    Version 1.4.0
 
     1. Connect your Arduino, under tools choose "Arduino Uno", set the right Port and set "Arduino ISP" as the Programmer.
     2. Hit upload
@@ -10,27 +10,47 @@
 
   =======================================================================================================================================
 */
-boolean north = true; // change this to 'false' if youre in the southern hemisphere
+String version = "V1.4.0";
+
+boolean north = true;    // change this to 'false' if youre in the southern hemisphere
 
 float speed = 1.000;    // Use this value to slightly increase or decrese tracking speed. The values from the "CAL" menu will be added to this.
 
-int RAsteps = 330;   // adjust this value to calibrate RA movement
+int RAsteps = 330;      // adjust this value to calibrate RA movement
 int DECsteps = 163;
 
-float RevSteps = 4096;
 // This is how many steps your 28BYJ-48 stepper needs for a full rotation. It is almost always 4096.
 // This code drives the steppers in halfstep mode
+float RevSteps = 4096;
 
 int RAspeed = 400;          // You can change the speed and acceleration of the steppers here. Max. Speed = 600. High speeds tend to make
-int RAacceleration = 600;  // these cheap steppers unprecice 
+int RAacceleration = 600;   // these cheap steppers unprecice
 int DECspeed = 800;
 int DECacceleration = 400;
 
+// Define some stepper limits to prevent physical damage to the tracker. This assumes that the home 
+// point (zero point) has been correctly set to be pointing at the celestial pole.
+float RAStepperLimit = 15500;         // Going much more than this each direction will make the ring fall off the bearings.
+
+// These are for 47N, so they will need adjustment if you're a lot away from that. 
+// You can use the CTRL menu to find the limits and place them here. I moved it 
+// down until my lens was horizontal. Not the DEC number. Then move it up until 
+// the lens is horizontal and note that number. Put those here. Always watch your 
+// tracker and hit RESET if it approaches a dangerous area.
+float DECStepperDownLimit = 10000;    // Going much more than this will make the lens collide with the ring
+float DECStepperUpLimit = -22000;     // Going much more than this is going below the horizon.
+
 // These values are needed to calculate the current position during initial alignment.
-int h = 21;   
-int m = 2;    
-int s = 25;   
+int h = 21;
+int m = 2;
+int s = 25;
 // You get these values by calculating 24h minus the current (not J2000) RA of Polaris.
 // This changes slightly over weeks, so adjust every couple of months.
 // This value is from 27.Nov.19, I suggest next adjustment in mid 2020
 // The same could be done for the DEC coordinates but they dont change significantly for the next 5 years
+
+// Comment this out to save some code space
+//#define DEBUG_MODE
+
+// Uncomment this to support the heating menu
+//#define SUPPORT_HEATING

Software/Arduino code/OpenAstroTracker/a_inits.ino

@@ -5,90 +5,78 @@
 #include <AccelStepper.h>
 #include <LiquidCrystal.h>
 #include <SoftwareSerial.h>
+
 #define HALFSTEP 8
 #define FULLSTEP 4
 
 LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
 //SoftwareSerial BT(10,11);
 
+// RA Motor pins
 #define motorPin1  2    // IN1 auf ULN2003 driver 1    //  2 / 22
 #define motorPin2  3    // IN2 auf ULN2003 driver 1    //  3 / 24
 #define motorPin3  11    // IN3 auf ULN2003 driver 1   // 11 / 26
 #define motorPin4  12    // IN4 auf ULN2003 driver 1   // 12 / 28
 
+// DEC Motor pins
 #define motorPin11  15    // IN1 auf ULN2003 driver 2
 #define motorPin12  16    // IN2 auf ULN2003 driver 2
 #define motorPin13  17    // IN3 auf ULN2003 driver 2
 #define motorPin14  18    // IN4 auf ULN2003 driver 2
 
+// LCD shield buttons
 #define btnRIGHT  0
 #define btnUP     1
 #define btnDOWN   2
 #define btnLEFT   3
 #define btnSELECT 4
 #define btnNONE   5
 
+// Menu IDs
 #define RA_Menu 0
 #define DEC_Menu 1
 #define HA_Menu 2
 #define Polaris_Menu 3
 #define Heat_Menu 4
 #define Calibration_Menu 5
 #define Control_Menu 6
+#define Home_Menu 7
 
-int lcd_key     = 0;
-int adc_key_in  = 0;
-int read_LCD_buttons() {
-  adc_key_in = analogRead(0);
-  if (adc_key_in > 1000) return btnNONE;
-  if (adc_key_in < 50)   return btnRIGHT;
-  if (adc_key_in < 250)  return btnUP;
-  if (adc_key_in < 450)  return btnDOWN;
-  if (adc_key_in < 600)  return btnLEFT;
-  if (adc_key_in < 920)  return btnSELECT;
-  //return btnNONE;
-}
-
-// Adjust the given number by the given adjustment, wrap around the limits. 
-// Limits are inclusive, so they represent the lowest and highest valid number.
-int adjustWrap(int current, int adjustBy, int minVal, int maxVal)
-{
-  current += adjustBy;
-  if (current > maxVal) current -= (maxVal + 1);
-  if (current < minVal) current += (maxVal + 1);
-  return current;
-}
-
-// Adjust the given number by the given adjustment, clamping to the limits. 
-// Limits are inclusive, so they represent the lowest and highest valid number.
-int adjustClamp(int current, int adjustBy, int minVal, int maxVal)
-{
-  current += adjustBy;
-  if (current > maxVal) current = maxVal;
-  if (current < minVal) current = minVal;
-  return current;
-}
-
-int adjustSecond(int current, int adjustBy) {
-  return adjustWrap(current, adjustBy, 0, 59);
-}
-
-int adjustMinute(int current, int adjustBy) {
-  return adjustWrap(current, adjustBy, 0, 59);
-}
-
-int adjustHour(int current, int adjustBy) {
-  return adjustWrap(current, adjustBy, 0, 23);
-}
-
-String inString = "";
-int controlDisplay =0;
-
+// Stepper control for RA and DEV. 
+// TRK is used for live tracking and runs in parallel with RA.
+// GUIDE is used for Stellarium control
 AccelStepper stepperRA(FULLSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
 AccelStepper stepperDEC(HALFSTEP, motorPin11, motorPin13, motorPin12, motorPin14);
 AccelStepper stepperTRK(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);     //yes, this is the same motor as stepperRA, dont ask why
 AccelStepper stepperGUIDE(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
 
+int lcd_key     = 0;         // The current key state 
+int adc_key_in  = 0;         // The analog value of the keys
+
+String inString = "";
+
+int calDelay = 150;          // The current delay when changing calibration value. The longer a button is depressed, the samller this gets.
+
+bool waitForButtonRelease = false; // When a button is pressed should we wait for its release before another loop?
+
+// Variables for use in the CONTROL menu
+int StateMaskDEC = 0x0011;   // Is the DEC stepper running?
+int StateMaskUp = 0x0001;    // Is the DEC stepper moving upwards?
+int StateMaskDown = 0x0010;  // Is the DEC stepper moving downwards?
+int StateMaskRA = 0x1100;    // Is the RA stepper running?
+int StateMaskLeft = 0x0100;  // Is the RA stepper moving left (CW)?
+int StateMaskRight = 0x1000; // Is the RA stepper moving right (CCW)?
+
+int controlState = 0x0000;   // The current state of the steppers (combination of above values)
+int controlDisplay = 0;      // How many loop cycles left before updating the display
+bool inControlMode = false;  // Is manual control enabled
+
+int lastKey = btnNONE;       // The key state when we last came through the loop
+
+float totalDECMove = 0;      // The number of DEC steps we asked for
+float totalRAMove = 0;
+bool isUnreachable = false;
+
 //String inCmd;
 //String inputString = "";
 //String commandString = "";
@@ -116,15 +104,9 @@ int mPolarisPosition;
 int tracking = 1;
 float trackingspeed;
 
-//RA stuff
-int hourRA=0;
-int minRA = 0;
-int secRA = 0;
+// RA stuff
 float moveRA;
 int RAselect;
-int hourRAprint;
-int minRAprint;
-int secRAprint;
 
 //DEC stuff
 int degreeDEC;
@@ -134,19 +116,13 @@ float moveDEC;
 int DECselect;
 int printdegDEC;
 
-//Hour correction
-int hourHA = 0;
-int minHA = 0;
+//Hour stuff
 int HAselect;
-int hHAcorrection;
-int mHAcorrection = -5 ;  //wenn minus dann hHAcorrection -1
-int sHAcorrection;
-int hourHAzeit;
-int minHAzeit;
 
-int heatselect;
-int RAheat = 0;
-int DECheat = 1;
+// HEAT menu settings
+int heatselect;   // Which stepper are we changing?
+int RAheat = 0;   // Are we heating the RA stepper?
+int DECheat = 0;  // Are we heating the DEC stepper?
 
 //Stellarium
 char current_RA[9];
@@ -156,10 +132,11 @@ int HAm_save;
 float slew_RA;
 float slew_DEC;
 
-int rightArrow = 4;
+// LCD special chars
 int leftArrow = 3;
+int rightArrow = 4;
 
-byte DEG[8] = {
+byte DegreesBitmap[8] = {
   B01100,
   B10010,
   B10010,
@@ -170,7 +147,7 @@ byte DEG[8] = {
   B00000
 };
 
-byte min[] = {
+byte MinutesBitmap[] = {
   B10000,
   B10000,
   B10000,
@@ -181,7 +158,7 @@ byte min[] = {
   B00000
 };
 
-byte sec[] = {
+byte SecondsBitmap[] = {
   B10100,
   B10100,
   B10100,

Software/Arduino code/OpenAstroTracker/b0_functions.ino

@@ -1,17 +1,87 @@
+
+int read_LCD_buttons() {
+  adc_key_in = analogRead(0);
+  if (adc_key_in > 1000) return btnNONE;
+  if (adc_key_in < 50)   return btnRIGHT;
+  if (adc_key_in < 250)  return btnUP;
+  if (adc_key_in < 450)  return btnDOWN;
+  if (adc_key_in < 600)  return btnLEFT;
+  if (adc_key_in < 920)  return btnSELECT;
+}
+
+// Adjust the given number by the given adjustment, wrap around the limits.
+// Limits are inclusive, so they represent the lowest and highest valid number.
+int adjustWrap(int current, int adjustBy, int minVal, int maxVal)
+{
+  current += adjustBy;
+  if (current > maxVal) current -= (maxVal + 1);
+  if (current < minVal) current += (maxVal + 1);
+  return current;
+}
+
+// Adjust the given number by the given adjustment, clamping to the limits.
+// Limits are inclusive, so they represent the lowest and highest valid number.
+int adjustClamp(int current, int adjustBy, int minVal, int maxVal)
+{
+  current += adjustBy;
+  if (current > maxVal) current = maxVal;
+  if (current < minVal) current = minVal;
+  return current;
+}
+
+// Adjust the given seconds by the given adjustment, wrapping around.
+int adjustSecond(int current, int adjustBy) {
+  return adjustWrap(current, adjustBy, 0, 59);
+}
+
+// Adjust the given minutes by the given adjustment, wrapping around.
+int adjustMinute(int current, int adjustBy) {
+  return adjustWrap(current, adjustBy, 0, 59);
+}
+
+// Adjust the given hour by the given adjustment, wrapping around.
+int adjustHour(int current, int adjustBy) {
+  return adjustWrap(current, adjustBy, 0, 23);
+}
+
+// Clamp the given number to the limits.
+// Limits are inclusive, so they represent the lowest and highest valid number.
+long clamp(long current, long minVal, long maxVal)
+{
+  if (current > maxVal) current = maxVal;
+  if (current < minVal) current = minVal;
+  return current;
+}
+
+// Clamp the given number to the limits.
+// Limits are inclusive, so they represent the lowest and highest valid number.
+float clamp(float current, float minVal, float maxVal)
+{
+  if (current > maxVal) current = maxVal;
+  if (current < minVal) current = minVal;
+  return current;
+}
+
+#ifdef DEBUG_MODE
 void log(const char* input) {
   Serial.println(input);
   Serial.flush();
 }
 
+void log(String 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);
 
 }
+#endif 
 
 String format(const char* input, ...) {
   va_list argp;
@@ -22,7 +92,7 @@ String format(const char* input, ...) {
 }
 
 String formatArg(const char* input, va_list args) {
-  char achBuffer[256];
+  char achBuffer[128];
   char*p = achBuffer;
 
   for (const char* i = input; *i != 0; i++) {
@@ -38,8 +108,8 @@ String formatArg(const char* input, va_list args) {
         break;
 
       case 'c': {
-          byte b = (byte) (va_arg(args, int) && 0x00FF);
-          *p++ = (char)b;
+          char *ch = va_arg(args, char*);
+          *p++ = *ch;
         }
         break;