V1.7.25.A2 - Updates

- Made LCD ask for arcminutes. Plus-minus 60m at a time (130m is complete range)
- Removed speed control for Az/Alt motors

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Globals.hpp

@@ -15,7 +15,7 @@
 #define DEC_Stepper_TYPE  0    // 28BYJ-48 = 0   |   NEMA = 1
 
 // Are we supporting the Azimuth PA motor?
-#define AZIMUTH_MOTOR 0
+#define AZIMUTH_MOTOR 1
 
 // Make some variables in the sketch files available to the C++ code.
 extern bool inSerialControl;

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -312,11 +312,11 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3,
 
   #if AZIMUTH_MOTOR
   _stepperAZ = new AccelStepper(FULLSTEP, 38, 42, 40, 44);
-  _stepperAZ ->setSpeed(0);
+  _stepperAZ ->setSpeed(150);
   _stepperAZ ->setMaxSpeed(300);
   _stepperAZ->setAcceleration(400);
   _stepperALT = new AccelStepper(FULLSTEP, 46, 50, 48, 52);
-  _stepperALT ->setSpeed(0);
+  _stepperALT ->setSpeed(150);
   _stepperALT ->setMaxSpeed(300);
   _stepperALT->setAcceleration(400);
   #endif
@@ -853,14 +853,6 @@ void Mount::setSpeed(int which, float speed) {
   else if (which == DEC_STEPS) {
     _stepperDEC->setSpeed(speed);
   }
-  #if AZIMUTH_MOTOR
-  else if (which == AZIMUTH_STEPS) {
-    _stepperAZ->setSpeed(speed);
-  }
-  else if (which == ALTITUDE_STEPS) {
-    _stepperALT->setSpeed(speed);
-  }
-  #endif
 }
 
 /////////////////////////////////
@@ -893,6 +885,29 @@ void Mount::goHome()
   _slewingToHome = true;
 }
 
+/////////////////////////////////
+//
+// moveBy
+//
+/////////////////////////////////
+void Mount::moveBy(int direction, float arcMinutes)
+{
+  #if AZIMUTH_MOTORS == 1
+    if (direction == AZIMUTH_STEPS){
+      const float azimuthArcSecondsPerStep = 3.939f;
+      const float azimuthStepsPerArcMinute = 60.0f / azimuthArcSecondsPerStep;
+      int stepsToMove = arcMinutes*azimuthStepsPerArcMinute ;
+      _stepperAZ->move(stepsToMove);
+    }
+    else if (direction == ALTITUDE_STEPS){
+      const float altitudeArcSecondsPerStep = 3.939f;
+      const float altitudeStepsPerArcMinute = 60.0f / altitudeArcSecondsPerStep;
+      int stepsToMove = arcMinutes * altitudeStepsPerArcMinute ;
+      _stepperALT->move(stepsToMove);
+    }
+  #endif
+}
+
 /////////////////////////////////
 //
 // mountStatus
@@ -1246,8 +1261,8 @@ void Mount::interruptLoop()
   }
 
   #if AZIMUTH_MOTOR
-  _stepperAZ->runSpeed();
-  _stepperALT->runSpeed();
+  _stepperAZ->run();
+  _stepperALT->run();
   #endif
 
 }

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -181,6 +181,9 @@ class Mount {
   // Set the speed of the given motor
   void setSpeed(int which, float speed);
 
+  // Support for moving the mount in azimuth and altitude (requires extra hardware)
+  void moveBy(int direction, float arcMinutes);
+
   // Set the number of steps to use for backlash correction
   void setBacklashCorrection(int steps);
 

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.hpp

@@ -18,7 +18,7 @@
 
 #include "Globals.hpp"
 
-String version = "V1.7.25.Az01";
+String version = "V1.7.25.A2";
 
 ///////////////////////////////////////////////////////////////////////////
 // Please see the Globals.h file for configuration of the firmware.