add NEMA configurations

openastrotech · openastrotech · commit 4241adea27bb · 2020-05-27T18:50:20.000+02:00
diff --git a/Software/Arduino code/OpenAstroTracker/Globals.h b/Software/Arduino code/OpenAstroTracker/Globals.h
@@ -10,7 +10,11 @@ void EEPROMupdate(int loc, byte val);
 #define NORTHERN_HEMISPHERE 1
 
 // Time in ms between LCD screen updates during slewing operations
-#define DISPLAY_UPDATE_TIME 200
+#define DISPLAY_UPDATE_TIME 400
+
+// Stepper selection ///////////
+#define RAStepper 1    // 28BYJ-48 = 0   |   NEMA = 1
+#define DECStepper 0    // 28BYJ-48 = 0   |   NEMA = 1
 
 // Make some variables in the sketch files available to the C++ code.
 extern bool inSerialControl;
diff --git a/Software/Arduino code/OpenAstroTracker/Mount.cpp b/Software/Arduino code/OpenAstroTracker/Mount.cpp
@@ -173,6 +173,7 @@ void Mount::writePersistentData(int which, int val)
 // configureRAStepper
 //
 /////////////////////////////////
+#if RAStepper == 0    // 28BYJ
 void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
 {
   _stepperRA = new AccelStepper(stepMode, pin1, pin2, pin3, pin4);
@@ -186,12 +187,28 @@ void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, b
   _stepperTRK->setMaxSpeed(10);
   _stepperTRK->setAcceleration(2500);
 }
+#endif
+#if RAStepper == 1    //NEMA
+void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
+{
+  _stepperRA = new AccelStepper(stepMode, pin1, pin2);
+  _stepperRA->setMaxSpeed(maxSpeed);
+  _stepperRA->setAcceleration(maxAcceleration);
+  _maxRASpeed = maxSpeed;
+  _maxRAAcceleration = maxAcceleration;
 
+  // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
+  _stepperTRK = new AccelStepper(DRIVER, pin1, pin2);
+  _stepperTRK->setMaxSpeed(10);
+  _stepperTRK->setAcceleration(2500);
+}
+#endif
 /////////////////////////////////
 //
 // configureDECStepper
 //
 /////////////////////////////////
+#if DECStepper == 0
 void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
 {
   _stepperDEC = new AccelStepper(stepMode, pin4, pin3, pin2, pin1);
@@ -200,7 +217,17 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3,
   _maxDECSpeed = maxSpeed;
   _maxDECAcceleration = maxAcceleration;
 }
-
+#endif
+#if DECStepper == 1
+void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
+{
+  _stepperDEC = new AccelStepper(stepMode, pin2, pin1);
+  _stepperDEC->setMaxSpeed(maxSpeed);
+  _stepperDEC->setAcceleration(maxAcceleration);
+  _maxDECSpeed = maxSpeed;
+  _maxDECAcceleration = maxAcceleration;
+}
+#endif
 /////////////////////////////////
 //
 // getSpeedCalibration
@@ -1111,7 +1138,7 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
   float stepsPerSiderealHour = _stepsPerRADegree * siderealDegreesInHour;
 
   // Where do we want to move RA to?
-  float moveRA = hourPos * stepsPerSiderealHour / 2;
+  float moveRA = hourPos * stepsPerSiderealHour;
 
   // Where do we want to move DEC to?
   // the variable targetDEC 0deg for the celestial pole (90deg), and goes negative only.
@@ -1122,7 +1149,7 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 #endif
 
   // We can move 6 hours in either direction. Outside of that we need to flip directions.
-  float RALimit = (6.0f * stepsPerSiderealHour / 2);
+  float RALimit = (6.0f * stepsPerSiderealHour);
 
   // If we reach the limit in the positive direction ...
   if (moveRA > RALimit) {
@@ -1132,7 +1159,7 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 
     // ... turn both RA and DEC axis around
     float oldRA = moveRA;
-    moveRA -= long(12.0f * stepsPerSiderealHour / 2);
+    moveRA -= long(12.0f * stepsPerSiderealHour);
     moveDEC = -moveDEC;
 #ifdef DEBUG_MODE
     logv("Mount::CalcSteppers: Adjusted Target Step pos RA: %f, DEC: %f", moveRA, moveDEC);
@@ -1145,7 +1172,7 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 #endif
     // ... turn both RA and DEC axis around
     float oldRA = moveRA;
-    moveRA += long(12.0f * stepsPerSiderealHour / 2);
+    moveRA += long(12.0f * stepsPerSiderealHour);
     moveDEC = -moveDEC;
 #ifdef DEBUG_MODE
     logv("Mount::CalcSteppers: Adjusted Target Step pos RA: %f, DEC: %f", moveRA, moveDEC);
diff --git a/Software/Arduino code/OpenAstroTracker/Mount.hpp b/Software/Arduino code/OpenAstroTracker/Mount.hpp
@@ -26,6 +26,7 @@
 
 #define HALFSTEP 8
 #define FULLSTEP 4
+#define DRIVER 1
 
 #define RA_STEPS  1
 #define DEC_STEPS 2
@@ -41,10 +42,21 @@ class Mount {
   Mount(int stepsPerRADegree, int stepsPerDECDegree, LcdMenu* lcdMenu);
 
   // Configure the RA stepper motor. This also sets up the TRK stepper on the same pins.
-  void configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+  #if RAStepper == 0
+    void configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+  #endif
+  #if RAStepper == 1
+    void configureRAStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration);
+  #endif
 
   // Configure the DEC stepper motor.
+  #if DECStepper == 0
   void configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+  #endif
+  #if DECStepper == 1
+  void configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration);
+  #endif
+  
 
   // Get the current RA tracking speed factor
   float getSpeedCalibration();
diff --git a/Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino b/Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino
@@ -24,9 +24,13 @@ String version = "V1.6.54";
 
 // See NORTHERN_HEMISPHERE in Globals.h if you not in the northern hemisphere
 
-// 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 for TRK and DEC, and full step for RA
-float StepsPerRevolution = 4096;
+
+// RA stepper //////////////////////////////////////////////////////////////////////////////////
+
+
+// This is how many steps your stepper needs for a full rotation. E.g. a 0.9° stepper in Fullstep has 400,
+// with 1/16 microstepping it has 6400. If youre using the 28BYJ, use 4096
+float RAStepsPerRevolution = 6400;
 
 // 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).
@@ -43,8 +47,12 @@ float StepsPerRevolution = 4096;
 // V2: 1131
 #define RACircumference 1131
 
-int RAStepsPerDegree = (RACircumference / (RAPulleyTeeth * 2.0) * StepsPerRevolution / 360.0);      // V2 Ring has belt in a groove and belt runs on bearings
+int RAStepsPerDegree = (RACircumference / (RAPulleyTeeth * 2.0) * RAStepsPerRevolution / 360.0);      // V2 Ring has belt in a groove and belt runs on bearings
+
+
+// DEC stepper //////////////////////////////////////////////////////////////////////////////////
 
+float DECStepsPerRevolution = 4096;
 
 // Belt moves 40mm for one stepper revolution (2mm pitch, 20 teeth).
 // DEC wheel is 2 x PI x 90mm circumference which is 565.5mm
@@ -53,13 +61,13 @@ int RAStepsPerDegree = (RACircumference / (RAPulleyTeeth * 2.0) * StepsPerRevolu
 // So there are 160.85 steps/degree (57907/360)
 #define DecPulleyTeeth 20
 
-int DECStepsPerDegree = (565.5 / (DecPulleyTeeth * 2.0) * StepsPerRevolution / 360.0);
+int DECStepsPerDegree = (565.5 / (DecPulleyTeeth * 2.0) * DECStepsPerRevolution / 360.0);
 
 
 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 RAspeed = 1000;          // You can change the speed and acceleration of the steppers here. Max. Speed = 600. High speeds tend to make
+int RAacceleration = 1600;   // these cheap steppers unprecice
 int DECspeed = 800;
 int DECacceleration = 400;
 
diff --git a/Software/Arduino code/OpenAstroTracker/a_inits.ino b/Software/Arduino code/OpenAstroTracker/a_inits.ino
@@ -13,6 +13,7 @@
 
 #define HALFSTEP 8
 #define FULLSTEP 4
+#define DRIVER 1
 
 //SoftwareSerial BT(10,11);
 
@@ -50,15 +51,26 @@
 #endif
 
 #ifdef __AVR_ATmega2560__  // Arduino Mega
-#define RAmotorPin1  22    // IN1 auf ULN2003 driver 1    //  2 / 22
-#define RAmotorPin3  24    // IN2 auf ULN2003 driver 1    //  3 / 24
-#define RAmotorPin2  26    // IN3 auf ULN2003 driver 1   // 11 / 26
-#define RAmotorPin4  28    // IN4 auf ULN2003 driver 1   // 12 / 28
-
-#define DECmotorPin1  30    // IN1 auf ULN2003 driver 2
-#define DECmotorPin3  32    // IN3 auf ULN2003 driver 2
-#define DECmotorPin2  34    // IN2 auf ULN2003 driver 2
-#define DECmotorPin4  36    // IN4 auf ULN2003 driver 2
+#if RAStepper == 0  // 28BYJ
+ #define RAmotorPin1  22    // IN1 auf ULN2003 driver 1    //  2 / 22
+ #define RAmotorPin3  24    // IN2 auf ULN2003 driver 1    //  3 / 24
+ #define RAmotorPin2  26    // IN3 auf ULN2003 driver 1   // 11 / 26
+ #define RAmotorPin4  28    // IN4 auf ULN2003 driver 1   // 12 / 28
+#endif
+#if RAStepper == 1  // NEMA
+ #define RAmotorPin1  22
+ #define RAmotorPin2  24
+#endif
+#if DECStepper == 0  // 28BYJ
+ #define DECmotorPin1  30    // IN1 auf ULN2003 driver 2
+ #define DECmotorPin3  32    // IN3 auf ULN2003 driver 2
+ #define DECmotorPin2  34    // IN2 auf ULN2003 driver 2
+ #define DECmotorPin4  36    // IN4 auf ULN2003 driver 2
+#endif
+#if DECStepper == 1  // NEMA
+ #define DECmotorPin1  26
+ #define DECmotorPin2  28
+#endif
 #endif
 
 // Menu IDs
diff --git a/Software/Arduino code/OpenAstroTracker/b_setup.ino b/Software/Arduino code/OpenAstroTracker/b_setup.ino
@@ -10,6 +10,16 @@ WifiControl wifiControl(&mount, &lcdMenu);
 #endif
 
 void setup() {
+  //Enable Microstepping
+  //RA
+  digitalWrite(40, HIGH);
+  digitalWrite(42, HIGH);
+  digitalWrite(44, HIGH);
+  //DEC
+  digitalWrite(41, HIGH);
+  digitalWrite(43, HIGH);
+  digitalWrite(45, HIGH);
+  
 
   //debug_init();
   //Serial.begin(38400);
@@ -37,9 +47,19 @@ void setup() {
   // Configure the mount
   
   // Set the stepper motor parameters
+  #if RAStepper == 0 && DECStepper == 0
   mount.configureRAStepper(FULLSTEP, RAmotorPin1, RAmotorPin2, RAmotorPin3, RAmotorPin4, RAspeed, RAacceleration);
   mount.configureDECStepper(HALFSTEP, DECmotorPin1, DECmotorPin2, DECmotorPin3, DECmotorPin4, DECspeed, DECacceleration);
-
+  #endif
+  #if RAStepper == 1 && DECStepper == 0
+  mount.configureRAStepper(DRIVER, RAmotorPin1, RAmotorPin2, RAspeed, RAacceleration);
+  mount.configureDECStepper(HALFSTEP, DECmotorPin1, DECmotorPin2, DECmotorPin3, DECmotorPin4, DECspeed, DECacceleration);
+  #endif
+  #if RAStepper == 1 && DECStepper == 1
+  mount.configureRAStepper(DRIVER, RAmotorPin1, RAmotorPin2, RAspeed, RAacceleration);
+  mount.configureDECStepper(DRIVER, DECmotorPin1, DECmotorPin2, DECspeed, DECacceleration);
+  #endif
+  
   // The mount uses EEPROM storage locations 0-10 that it reads during construction
 
   // Read other persisted values and set in mount
