V1.6.10 - Updates

- Placed all Serial output, except Meade Protocol implementation inside a DEBUG_MODE define
- Removed a bunch of logging/commented out code.
- Correctly implement current RA and DEC retrieval.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/DayTime.cpp

@@ -90,14 +90,12 @@ void DayTime::addHours(int deltaHours) {
 }
 
 void DayTime::checkHours() {
-  Serial.println("DtIn: "+String(hours));
   while (hours >= hourWrap) {
     hours  -= hourWrap;
   }
   while (hours < 0) {
     hours += hourWrap;
   }
-  Serial.println("DtOut: "+String(hours));
 }
 
 // Add minutes, wrapping hours if needed
@@ -208,10 +206,8 @@ float DegreeTime::getTotalDegrees() {
 
 void DegreeTime::checkHours() {
   if (NORTHERN_HEMISPHERE) {
-    Serial.println("DgIn: "+String(hours));
     if (hours > 0) hours = 0;
     if (hours < -180) hours = -180;
-    Serial.println("DgOut: "+String(hours));
   } else {
     if (hours > 180) hours = 180;
     if (hours < 0) hours = 0;

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -164,11 +164,29 @@ DegreeTime& Mount::targetDEC() {
 /////////////////////////////////
 // Get current RA value.
 const DayTime Mount::currentRA() const {
-  // there are twice as many steps since this motor is being half-stepped.
-  // It's negative because the motor coordinates increase CCW
-  float raPosDegrees = -2.0 * _stepperRA->currentPosition() / _stepsPerRADegree;
-  float raPos = raPosDegrees / siderealDegreesInHour;
-  return raPos;
+  if (!isSlewingRA() ||  (_mountStatus & STATUS_SLEWING_TO_TARGET) == 0) return _currentRA;
+
+  // How many steps are needed between current and target
+  long deltaSteps = _stepperRA->targetPosition() - _currentRAStepperPosition;
+
+  // Calculate how far along (0..1) we are
+  float alongPathNormalized = 1.0 * (_stepperRA->currentPosition() - _currentRAStepperPosition) / deltaSteps;
+
+  float raT =  _targetRA.getTotalHours();
+  float raC =  _currentRA.getTotalHours();
+  float deltaT = raT - raC;
+
+  // If we're rolling over, take the short route. i.e. if the motor direction indicates 
+  // the other direction than the math, move the target beyond current in the right direction
+  if ( (raT < raC && (deltaSteps < 0)) || (raT > raC && (deltaSteps > 0))) {
+    raT += (deltaSteps < 0) ? 24 : -24;
+    deltaT = raT - raC;
+  }
+
+  // Move the RA along by wher we are, fractionally
+  raC += deltaT * alongPathNormalized;
+
+  return raC;
 }
 
 /////////////////////////////////
@@ -178,9 +196,19 @@ const DayTime Mount::currentRA() const {
 /////////////////////////////////
 // Get current DEC value.
 const DegreeTime Mount::currentDEC() const {
-  float decPosDegrees = 1.0 * _stepperDEC->currentPosition() / _stepsPerDECDegree;
-//  return NORTHERN_HEMISPHERE ? 90 - decPosDegrees : 90 + decPosDegrees ;
-  return decPosDegrees;
+  if (!isSlewingDEC() ||  (_mountStatus & STATUS_SLEWING_TO_TARGET) == 0) return _currentDEC;
+
+  // How many steps are needed between current and target
+  long deltaSteps = _stepperDEC->targetPosition() - _currentDECStepperPosition;
+
+  // Calculate how far along (0..1) we are
+  float alongPathNormalized = 1.0 * (_stepperDEC->currentPosition() - _currentDECStepperPosition) / deltaSteps;
+
+  float decT =  _targetDEC.getTotalDegrees();
+  float decC =  _currentDEC.getTotalDegrees();
+  float deltaT = decT - decC;
+  decC += deltaT * alongPathNormalized;
+  return decC;
 }
 
 /////////////////////////////////
@@ -193,11 +221,14 @@ const DegreeTime Mount::currentDEC() const {
 void Mount::startSlewingToTarget() {
   //Serial.println("StSlew2Trgt!");
   // Calculate new RA stepper target (and DEC)
+  _currentDECStepperPosition = _stepperDEC->currentPosition();
+  _currentRAStepperPosition = _stepperRA->currentPosition();
+
   calculateRAandDECSteppers();
+
   _mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
   _totalDECMove = 1.0f * _stepperDEC->distanceToGo();
   _totalRAMove = 1.0f * _stepperRA->distanceToGo();
-  // Serial.println("StSlew2Trgt: M " + String(_mountStatus) + " Totals: R" + String(_totalRAMove) + "D" + String(_totalDECMove));
 }
 
 /////////////////////////////////
@@ -462,6 +493,12 @@ void Mount::loop() {
     _mountStatus &= ~(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET);
 
     if (_stepperWasRunning) {
+      // Mount is at Target!
+      _currentRA = _targetRA;
+      _currentDEC = _targetDEC;
+      _currentDECStepperPosition = _stepperDEC->currentPosition();
+      _currentRAStepperPosition = _stepperRA->currentPosition();
+
       // Make sure we do one last update when the steppers have stopped.
       displayStepperPosition();
       _lcdMenu->updateDisplay();

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -128,8 +128,15 @@ class Mount {
     int _stepsPerDECDegree;
     long _lastHASet;
     DayTime _HAAdjust;
+    
     DayTime _targetRA;
+    DayTime _currentRA;
+    long _currentRAStepperPosition;
+    
     DegreeTime _targetDEC;
+    DegreeTime _currentDEC;
+    long _currentDECStepperPosition;
+    
     float _totalDECMove;
     float _totalRAMove;
 

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -14,7 +14,7 @@
 
   =======================================================================================================================================
 */
-String version = "V1.6.01";
+String version = "V1.6.10";
 
 // See NORTHERN_HEMISPHERE in Globals.h if you not in the northern hemisphere
 
@@ -70,16 +70,11 @@ int s = 25;
 // 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
+// #define DEBUG_MODE
 
 // Uncomment this to support the heating menu
 // NOTE: Heating is currently not supported!
 // #define SUPPORT_HEATING
 
 // Uncomment to run a key diagnostic
 // #define LCD_BUTTON_TEST
-
-
-// Started at 25672 and 1312  -- with f_serial
-// finished at 23830 and 1111 -- without f_serial.
-// finished at 23740 and 1117 -- Keyboard class, bug fixes, without f_serial.

Software/Arduino code/OpenAstroTracker/b_setup.ino

@@ -16,7 +16,9 @@ void setup() {
   Serial.begin(57600);
   //BT.begin(9600);
 
+#ifdef DEBUG_MODE
   Serial.println("Hello");
+#endif
 
   // Show a splash screen
   lcdMenu.setCursor(0, 0);
@@ -42,10 +44,13 @@ void setup() {
   // Read persisted values adn set in mount
   inputcal = EEPROM.read(0);
   DayTime haTime = DayTime(EEPROM.read(1), EEPROM.read(2), 0);
-  Serial.println("InputCal: " + String(inputcal));
   mount.setSpeedCalibration(speed + inputcal / 10000);
+#ifdef DEBUG_MODE
+  Serial.println("InputCal: " + String(inputcal));
   Serial.println("SpeedCal: " + String(mount.getSpeedCalibration(), 5));
   Serial.println("TRKSpeed: " + String(mount.getSpeed(TRACKING), 5));
+#endif
+
   mount.setHA(haTime);
 
   // Start the tracker.
@@ -67,5 +72,8 @@ void setup() {
   while (millis() - now < 750) {
     mount.loop();
   }
+#ifdef DEBUG_MODE
   Serial.println("SetupDone");
+#endif
+
 }

Software/Arduino code/OpenAstroTracker/c75_menuCTRL.ino

@@ -46,51 +46,38 @@ bool processControlKeys() {
   }
 
   if (lcdButtons.keyChanged(key)) {
-    //Serial.print("KEY CHANGE!");
     switch (key) {
       case btnUP: {
-          //Serial.print("KEY UP:");
           if (!mount.isSlewingDEC()) {
-            //Serial.println(" Go N");
             mount.startSlewing(NORTH);
           } else {
-            //Serial.println(" Stop NS");
             mount.stopSlewing(NORTH | SOUTH);
           }
         }
         break;
 
       case btnDOWN: {
-          //Serial.print("KEY DN:");
           if (!mount.isSlewingDEC()) {
-            //Serial.println(" Go S");
             mount.startSlewing(SOUTH);
           } else {
-            //Serial.println(" Stop NS");
             mount.stopSlewing(NORTH | SOUTH);
           }
         }
         break;
 
       case btnLEFT: {
-          //Serial.print("KEY LF:");
           if (!mount.isSlewingRA()) {
-            //Serial.println(" Go W");
             mount.startSlewing(WEST);
           } else {
-            //Serial.println(" Stop EW");
             mount.stopSlewing(EAST | WEST);
           }
         }
         break;
 
       case btnRIGHT: {
-          //Serial.print("KEY RT:");
           if (!mount.isSlewingRA()) {
-            //Serial.println(" Go E");
             mount.startSlewing(EAST);
           } else {
-            //Serial.println(" Stop EW");
             mount.stopSlewing(EAST | WEST);
           }
         }

Software/Arduino code/OpenAstroTracker/c_buttons.ino

@@ -100,12 +100,9 @@ void loop() {
     }
 
     if (waitForButtonRelease) {
-      //Serial.print("Wait:");
       if (lcdButtons.currentKey() != btnNONE) {
-        //Serial.println("KeyNotNone:");
         do {
           if (lcdButtons.currentKey() == btnNONE) {
-            //Serial.println("KeyIsNone:");
             break;
           }
 
@@ -114,7 +111,6 @@ void loop() {
         }
         while (true);
       }
-      //Serial.println("WaitOver:");
     }
 
     // Input handled, do output