Merge pull request #8 from ClutchplateDude/master

V1.5.24 - Updates

Author: EorEquis

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -14,19 +14,19 @@
 
   =======================================================================================================================================
 */
-String version = "V1.5.23";
+String version = "V1.5.24";
 
 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.
-
 // The radius of the surface that the belt runs on (in V1 of the ring) was 168.24mm.
 // Belt moves 40mm for one stepper revolution (2mm pitch, 20 teeth).
-// RA wheel is 2 x PI x 168.24mm circumference = 1057.1mm
-// One RA revolution needs 26.43 (1057.1mm / 40mm) stepper revolutions
-// Which means 108245 steps (26.43 x 4096) moves 360 degrees
-// So there are 300.1 steps/degree (108245 / 360)
-int RAStepsPerDegree = 300;      // adjust this value to calibrate RA movement
+// RA wheel is 2 x PI x 168.24mm (V2:180mm) circumference = 1057.1mm (V2:1131mm)
+// One RA revolution needs 26.43 (1057.1mm / 40mm) stepper revolutions (V2: 28.27 (1131mm/40mm))
+// Which means 108245 steps (26.43 x 4096) moves 360 degrees (V2: 115812 steps (28.27 x 4096)
+// So there are 300.1 steps/degree (108245 / 360)  (V2: 322 (115812 / 360))
+
+int RAStepsPerDegree = 300;      // V1 Ring has a ridge that the belt runs on and the ring runs on the bearings
+// int RAStepsPerDegree = 322;      // V2 Ring has belt in a groove and runs on bearings
 
 // Belt moves 40mm for one stepper revolution (2mm pitch, 20 teeth).
 // DEC wheel is 2 x PI x 90mm circumference which is 565.5mm
@@ -39,6 +39,8 @@ int DECStepsPerDegree = 161;     // Number of steps needed to move DEC motor 1 d
 // This code drives the steppers in halfstep mode for TRK and DEC, and full step for RA
 float StepsPerRevolution = 4096;
 
+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 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 DECspeed = 800;

Software/Arduino code/OpenAstroTracker/a_inits.ino

@@ -56,16 +56,14 @@ AccelStepper stepperDEC(HALFSTEP, motorPin11, motorPin13, motorPin12, motorPin14
 // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
 AccelStepper stepperTRK(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
 
-// Use another AccelStepper to run the RA motor as well for use with Stellarium... hmmmm....
-AccelStepper stepperGUIDE(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
-
 String inString = "";
 
 bool inStartup = true;        // Start with a guided startup
 
 // Serial control variables
 bool inSerialControl = false; // When the serial port is in control
 bool serialIsSlewing = false; // When the serial port is slewing the tracker
+bool slewingToHome = false;   // When the serial port is slewing to home/park.
 bool quitSerialOnNextButtonRelease = false; // Used to detect SELECT button to quit Serial mode.
 String logString;
 boolean isPulseGuiding = true;

Software/Arduino code/OpenAstroTracker/b2_daytime.ino

@@ -35,6 +35,14 @@ class DayTime {
       hours = (int)(ms % 24);
     }
 
+    DayTime(float timeInHours) {
+      hours = floor(timeInHours);
+      timeInHours = (timeInHours - hours) * 60;
+      mins = floor(timeInHours);
+      timeInHours = (timeInHours - mins) * 60;
+      secs = floor(timeInHours);
+    }
+
     int getHours() {
       return hours;
     }

Software/Arduino code/OpenAstroTracker/b_setup.ino

@@ -30,8 +30,6 @@ void setup() {
   stepperDEC.setAcceleration(DECacceleration);
   stepperTRK.setMaxSpeed(10);
   stepperTRK.setAcceleration(2500);
-  stepperGUIDE.setMaxSpeed(50);
-  stepperGUIDE.setAcceleration(100);
 
   // Read persisted values
   inputcal = EEPROM.read(0);

Software/Arduino code/OpenAstroTracker/c5_calcStepperPos.ino

@@ -44,6 +44,13 @@ void handleDECandRACalculations()
   // Can we get there without physical issues? (not doing anything with this yet)
   isUnreachable = ((targetRA != -moveRA) || (targetDEC != moveDEC));
 
+//  if (stepperRA.currentPosition() != int(targetRA)) {
+//    Serial.println("Moving RA from " + String(stepperRA.currentPosition()) + " to " + targetRA);
+//  }
+//  if (stepperDEC.currentPosition() != (targetDEC)) {
+//    Serial.println("Moving DEC from " + String(stepperDEC.currentPosition()) + " to " + targetDEC);
+//  }
+  
   // Show time: tell the steppers where to go!
   stepperRA.moveTo(targetRA);
   stepperDEC.moveTo(targetDEC);
@@ -65,11 +72,10 @@ void doCalculations() {
   // Run speed for steppers is steps/second
   // What are these magic numbers??? 335.14? 288? 3590?
   //trackingSpeed = ((((335.1417 / 288.0) * StepsPerRevolution) / 3590)) - 1 + float(speedCalibration);
-  
-  // The tracker simply needs to rotate at 15degrees/hour, adjusted for sidereal 
+
+  // The tracker simply needs to rotate at 15degrees/hour, adjusted for sidereal
   // time (i.e. the 15degrees is per 23h56m04s. 3590/3600 is the same ratio).
-  // And multiplied by 2 because TRK stepper is halfstepped, whereas RA stepper is fullstepped.
-  trackingSpeed  = speedCalibration * 2 * RAStepsPerDegree * 15.0f / 3590.0f;
+  trackingSpeed  = speedCalibration * RAStepsPerDegree * 15.0f / 3590.0f;
   stepperTRK.setSpeed(trackingSpeed);
 
   RADisplayTime.set(RATime);

Software/Arduino code/OpenAstroTracker/c6_moveTo.ino

@@ -1,19 +1,56 @@
 
+float currentRA() {
+  float targetRA = RATime.getTotalHours();
+  // Serial.print("TargetRA: " + String(targetRA, 4));
+  if (!stepperRA.isRunning()) {
+    return targetRA;
+  }
+  float degreesToGo = 1.0 * stepperRA.distanceToGo() / RAStepsPerDegree;
+  // Serial.print("  Deg2Go: " + String(degreesToGo , 4));
+  float hoursToGo = degreesToGo / 15.0;
+  // Serial.print("  Hrs2Go: " + String(hoursToGo , 4));
+  float currentHour = targetRA - hoursToGo;
+  // Serial.println("  CurHrs: " + String(currentHour, 4));
+  return currentHour;
+}
+
+float currentDEC() {
+  float targetDEC = 1.0 * degreeDEC + minDEC / 60.0 + secDEC / 3600.0;
+  // Serial.print("TargetDEC: " + String(targetDEC, 4));
+  if (!stepperDEC.isRunning()) {
+    return targetDEC;
+  }
+  float degreesToGo = 1.0 * stepperDEC.distanceToGo() / DECStepsPerDegree;
+  // Serial.print("  Deg2Go: " + String(degreesToGo , 4));
+  float currentDegree = targetDEC - degreesToGo;
+  // Serial.println("  CurDeg: " + String(currentDegree, 4));
+  return currentDegree;
+}
+
 void displayStepperPosition() {
   lcdMenu.setCursor(0, 1);
   String disp ;
-  if (totalDECMove > 0)              {
+  if (totalDECMove > 0) {
     float decDist = 100.0 - 100.0 * abs(stepperDEC.distanceToGo()) / totalDECMove;
-    sprintf(scratchBuffer, "DEC: %d%%", (int)decDist);
-    //disp = "DEC:" + String((int)floor(decDist)) + "% ";
+    // float dec = currentDEC();
+    // DayTime dt(dec);
+    // int degree = dt.getHours() + (north ? 90 : -90);
+    // Serial.println("DEC: " + String(dec, 4) + " DT: " + String(degree) + " " + String(dt.getMinutes()) + " " + String(dt.getSeconds()));
+    // sprintf(scratchBuffer, "D: %02d@%02d'%02d\" %d%%", degree, dt.getMinutes(), dt.getSeconds(), (int)decDist);
+    sprintf(scratchBuffer, "D: %d%%", (int)decDist);
     disp = String(scratchBuffer);
   }
   else {
     disp = "D:" + String(stepperDEC.currentPosition());
   }
   if (totalRAMove > 0) {
     float raDist = 100.0 - 100.0 * abs(stepperRA.distanceToGo()) / totalRAMove;
-    sprintf(scratchBuffer, "RA: %d%%", (int)raDist);
+    // float ra = currentRA();
+    // DayTime dt(ra);
+    // dt.addTime(HACorrection);
+    // Serial.println("RA: " + String(ra, 4) + " DT: " + dt.ToString());
+    // sprintf(scratchBuffer, "R: %02d@%02d'%02d\" %d%%", dt.getHours(), dt.getMinutes(), dt.getSeconds(), (int)raDist);
+    sprintf(scratchBuffer, "R: %d%%", (int)raDist);
     disp = disp + String(scratchBuffer);
   }
   else {
@@ -108,7 +145,9 @@ void startMoveSteppersToTargetAsync() {
   totalRAMove = 1.0f * abs(stepperRA.distanceToGo());
 }
 
-// Move stepper motors to target (non-blocking)
+// Move stepper motors to target (non-blocking).
+// Returns true if the motor is still running.
+// Returns false when the motors are stopped (reached target).
 bool moveSteppersToTargetAsync() {
   bool stillRunning = false;
   if (stepperDEC.isRunning() || stepperRA.isRunning()) {

Software/Arduino code/OpenAstroTracker/c70_menuRA.ino

@@ -1,3 +1,78 @@
+bool movingToTarget = false;
+
+void processRAKeys(int key)
+{
+  switch (key)
+  {
+    case btnUP:
+      {
+        if (RAselect == 0)
+          RATime.addHours(1);
+        if (RAselect == 1)
+          RATime.addMinutes(1);
+        if (RAselect == 2)
+          RATime.addSeconds(1);
+
+        // slow down key repetitions
+        delay(150);
+        waitForButtonRelease = false;
+      }
+      break;
+
+    case btnDOWN:
+      {
+        if (RAselect == 0)
+          RATime.addHours(-1);
+        if (RAselect == 1)
+          RATime.addMinutes(-1);
+        if (RAselect == 2)
+          RATime.addSeconds(-1);
+
+        // slow down key repetitions
+        delay(150);
+        waitForButtonRelease = false;
+      }
+      break;
+
+    case btnLEFT:
+      {
+        RAselect = adjustWrap(RAselect, 1, 0, 2);
+      }
+      break;
+
+    case btnSELECT:
+      {
+        if (movingToTarget) {
+          stopSteppers();
+        }
+        else {
+          startMoveSteppersToTargetAsync();
+        }
+        movingToTarget = !movingToTarget ;
+      }
+      break;
+
+    case btnRIGHT:
+      {
+        lcdMenu.setNextActive();
+      }
+      break;
+  }
+
+  if (movingToTarget) {
+    if (!moveSteppersToTargetAsync()) {
+      movingToTarget = false;
+    }
+  }
+}
+
+void printRASubmenu() {
+  if (!movingToTarget) {
+    lcdMenu.printMenu(formatRA(&RADisplayTime, RAselect));
+  }
+}
+
+
 /*
   WIP for complete OO-ification of code.
 
@@ -134,62 +209,3 @@
     }
   };
 */
-
-void processRAKeys(int key)
-{
-  switch (key)
-  {
-    case btnUP:
-      {
-        if (RAselect == 0)
-          RATime.addHours(1);
-        if (RAselect == 1)
-          RATime.addMinutes(1);
-        if (RAselect == 2)
-          RATime.addSeconds(1);
-
-        // slow down key repetitions
-        delay(150);
-        waitForButtonRelease = false;
-      }
-      break;
-
-    case btnDOWN:
-      {
-        if (RAselect == 0)
-          RATime.addHours(-1);
-        if (RAselect == 1)
-          RATime.addMinutes(-1);
-        if (RAselect == 2)
-          RATime.addSeconds(-1);
-
-        // slow down key repetitions
-        delay(150);
-        waitForButtonRelease = false;
-      }
-      break;
-
-    case btnLEFT:
-      {
-        RAselect = adjustWrap(RAselect, 1, 0, 2);
-      }
-      break;
-
-    case btnSELECT:
-      {
-        moveSteppersToTarget();
-      }
-      break;
-
-    case btnRIGHT:
-      {
-        lcdMenu.setNextActive();
-      }
-      break;
-  }
-}
-
-void printRASubmenu()
-{
-  lcdMenu.printMenu(formatRA(&RADisplayTime, RAselect));
-}

Software/Arduino code/OpenAstroTracker/c71_menuDEC.ino

@@ -1,4 +1,3 @@
-bool movingToTarget = false;
 
 void processDECKeys(int key) {
 

Software/Arduino code/OpenAstroTracker/c725_menuHOME.ino

@@ -1,23 +1,10 @@
 void processHomeKeys(int key) {
   switch (key) {
     case btnSELECT: {
-        // TRK stepper is half-stepped so we divide the steps by two to get full steps, which is what RA is stepped at.
-        tracking = 0;
-        stepperRA.moveTo(0 - stepperTRK.currentPosition() / 2);
-        stepperDEC.moveTo(0);
-
-        moveSteppersToTarget();
-
-        // Set TRK stepper position to start counting from here again
-        stepperTRK.setCurrentPosition(0);
-        stepperRA.setCurrentPosition(0);
-        tracking = 1;
-
-        // In order for RA coordinates to work correctly, we need to
-        // offset HATime by elapsed time since last HA set.
-        unsigned long elapsedMs = millis() - lastHAset;
-        HATime.addSeconds(elapsedMs / 1000);
-        lastHAset = millis();
+        moveToHomePositionsAsync() ;
+        while (moveSteppersToTargetAsync()) {
+        }
+        moveToHomePositionCompleted();
       }
       break;
 
@@ -26,6 +13,38 @@ void processHomeKeys(int key) {
       }
       break;
   }
+
+}
+
+// Calculate the target RA, DEC and HA adjustments that need to be made and set the motor targets.
+void moveToHomePositionsAsync() {
+  tracking = 0;
+  float trackedSeconds = stepperTRK.currentPosition() / trackingSpeed; // steps/steps/s
+  // Serial.println("Pos: " + String(stepperTRK.currentPosition()) + " Secs:" + String(trackedSeconds , 3));
+
+  // In order for RA coordinates to work correctly, we need to
+  // offset HATime by elapsed time since last HA set and also
+  // adjust RA by the elapsed time and set it to zero.
+  RATime.set(0, 0, 0);
+  RATime.addSeconds(trackedSeconds);
+  HATime.addSeconds(trackedSeconds);
+  HACorrection.set(HATime);
+  HACorrection.addTime(-h, -m, -s);
+  lastHAset = millis();
+
+  // Set DEC to 90degrees
+  degreeDEC = minDEC = secDEC = 0;
+
+  // Calculate new RA stepper target (and DEC)
+  handleDECandRACalculations();
+}
+
+// This must be called when the move to home is completed.
+void moveToHomePositionCompleted() {
+  // Set TRK stepper position to start counting from here again
+  stepperTRK.setCurrentPosition(0);
+  stepperRA.setCurrentPosition(0);
+  tracking = 1;
 }
 
 void printHomeSubmenu() {