V1.6.32 - Updates

- Added support for Drift Alignment in the CAL menu.
- Changed default client to not include INFO menu (memory pressure - can be enabled is GUIDED_STARTUP is disabled).

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Globals.h

@@ -57,7 +57,7 @@ extern bool inSerialControl;
 #define SUPPORT_MANUAL_CONTROL
 
 // Uncomment to support INFO menu that displays various pieces of information about the mount. 
-#define SUPPORT_INFO_DISPLAY
+// #define SUPPORT_INFO_DISPLAY
 
 // Uncomment to support Serial Meade LX200 protocol support
 // #define SUPPORT_SERIAL_CONTROL

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -75,8 +75,8 @@ void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, b
   _stepperRA = new AccelStepper(stepMode, pin1, pin2, pin3, pin4);
   _stepperRA->setMaxSpeed(maxSpeed);
   _stepperRA->setAcceleration(maxAcceleration);
-  //  _maxRASpeed = maxSpeed;
-  //  _maxRAAcceleration = maxAcceleration;
+  _maxRASpeed = maxSpeed;
+  _maxRAAcceleration = maxAcceleration;
 
   // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
   _stepperTRK = new AccelStepper(HALFSTEP, pin1, pin2, pin3, pin4);
@@ -356,6 +356,52 @@ void Mount::guidePulse(byte direction, int duration) {
   _guideEndTime = millis() + duration;
 }
 
+/////////////////////////////////
+//
+// runDriftAlignmentPhase
+//
+// Runs one of the phases of the Drift alignment
+// This runs the RA motor 400 steps (about 5.3 arcminutes) in the given duration
+// This function should be callsed 3 times:
+// The first time with EAST, second with WEST and then with 0.
+/////////////////////////////////
+void Mount::runDriftAlignmentPhase(int direction, int durationSecs) {
+  // Calculate the speed at which it takes the given duration to cover 400 steps.
+  float speed = 400.0 / durationSecs;
+  switch (direction) {
+    case EAST:
+      // Move 400 steps east at the calculated speed, synchronously
+      _stepperRA->setAcceleration(1500);
+      _stepperRA->setMaxSpeed(speed);
+      _stepperRA->move(400);
+      _stepperRA->runToPosition();
+
+      // Overcome the gearing gap
+      _stepperRA->setMaxSpeed(300);
+      _stepperRA->move(-20);
+      _stepperRA->runToPosition();
+      break;
+
+    case WEST:
+      // Move 400 steps west at the calculated speed, synchronously
+      _stepperRA->setMaxSpeed(speed);
+      _stepperRA->move(-400);
+      _stepperRA->runToPosition();
+      break;
+
+    case 0 :
+      // Fix the gearing to go back the other way
+      _stepperRA->setMaxSpeed(300);
+      _stepperRA->move(20);
+      _stepperRA->runToPosition();
+
+      // Re-configure the stepper to the correct parameters.
+      _stepperRA->setAcceleration(_maxRAAcceleration);
+      _stepperRA->setMaxSpeed(_maxRASpeed);
+      break;
+  }
+}
+
 /////////////////////////////////
 //
 // park

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -129,6 +129,8 @@ class Mount {
 
     void displayStepperPositionThrottled();
 
+    void runDriftAlignmentPhase(int direction, int durationSecs);
+
   private:
     void calculateRAandDECSteppers(float& targetRA, float& targetDEC);
     void displayStepperPosition();
@@ -150,9 +152,9 @@ class Mount {
     LcdMenu* _lcdMenu;
     int  _stepsPerRADegree;
     int _stepsPerDECDegree;
-    //int _maxRASpeed;
+    int _maxRASpeed;
     int _maxDECSpeed;
-    //int _maxRAAcceleration;
+    int _maxRAAcceleration;
     int _maxDECAcceleration;
 
     long _lastHASet;

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -16,7 +16,7 @@
 */
 #include "Globals.h"
 
-String version = "V1.6.31";
+String version = "V1.6.32";
 
 ///////////////////////////////////////////////////////////////////////////
 // Please see the Globals.h file for configuration of the firmware.

Software/Arduino code/OpenAstroTracker/c76_menuCAL.ino

@@ -1,14 +1,37 @@
 #ifndef HEADLESS_CLIENT
 
+// HIGHLIGHT states allow you to pick one of the three sub functions.
 #define HIGHLIGHT_POLAR 1
 #define HIGHLIGHT_SPEED 2
-#define POLAR_CALIBRATION_WAIT 3
-#define POLAR_CALIBRATION_GO  4
-#define POLAR_CALIBRATION_WAIT_HOME  5
-#define SPEED_CALIBRATION 6
-
+#define HIGHLIGHT_DRIFT 3
+
+// Polar calibration goes through these three states:
+//  4 - moving to RA of Polaris and then waiting on confirmation that Polaris is centered
+//  5 - moving to DEC beyond Polaris and waiting on confirmation that Polaris is centered
+//  6 - moving back to home position
+#define POLAR_CALIBRATION_WAIT 4
+#define POLAR_CALIBRATION_GO  5
+#define POLAR_CALIBRATION_WAIT_HOME  6
+
+// Speed calibration only has one state, allowing you to adjust the speed with UP and DOWN
+#define SPEED_CALIBRATION 7
+
+// Drift calibration goes through 4 states
+// 8 - Display four durations and wait for the user to select one
+// 9 - Start the calibration run after user presses SELECT. This state waits 1.5s, takes duration time
+//     to slew east in half the time selected, then waits 1.5s and slews west in the same duration, and waits 1.5s.
+#define DRIFT_CALIBRATION_GET_DURATION 8
+#define DRIFT_CALIBRATION_RUNNING 9
+
+// Start off with Polar Alignment higlighted.
 byte calState = HIGHLIGHT_POLAR;
 
+// The index of durations that the user has selected.
+byte driftSubIndex = 1;
+
+// The requested total duration of the drift alignment run.
+byte driftDuration = 0;
+
 bool processCalibrationKeys() {
   byte key;
   bool waitForRelease = false;
@@ -43,10 +66,33 @@ bool processCalibrationKeys() {
       lcdMenu.updateDisplay();
       calState = HIGHLIGHT_POLAR;
     }
+  } else if (calState == DRIFT_CALIBRATION_RUNNING) {
+    lcdMenu.setCursor(0, 1);
+    lcdMenu.printMenu("Pause 1.5s ...");
+    mount.stopSlewing(TRACKING);
+    mount.delay(1500);
+
+    lcdMenu.setCursor(0, 1);
+    lcdMenu.printMenu("Eastward pass...");
+    mount.runDriftAlignmentPhase(EAST, driftDuration);
+
+    lcdMenu.setCursor(0, 1);
+    lcdMenu.printMenu("Pause 1.5s ...");
+    mount.delay(1500);
+
+    lcdMenu.setCursor(0, 1);
+    lcdMenu.printMenu("Westward pass...");
+    mount.runDriftAlignmentPhase(WEST, driftDuration);
+
+    lcdMenu.setCursor(0, 1);
+    lcdMenu.printMenu("Done. Pause 1.5s");
+    mount.delay(1500);
+    mount.runDriftAlignmentPhase(0, 0);
+
+    mount.startSlewing(TRACKING);
+    calState = HIGHLIGHT_DRIFT;
   }
 
-
-
   if (checkForKeyChange && lcdButtons.keyChanged(key)) {
     waitForRelease = true;
 
@@ -87,13 +133,13 @@ bool processCalibrationKeys() {
 
       case HIGHLIGHT_POLAR:
         if (key == btnDOWN) calState = HIGHLIGHT_SPEED;
-        else if (key == btnUP) calState = HIGHLIGHT_SPEED;
+        else if (key == btnUP) calState = HIGHLIGHT_DRIFT;
         else if (key == btnSELECT) {
           calState = POLAR_CALIBRATION_WAIT;
 
           // Move the RA to that of Polaris. Moving to this RA aligns the DEC axis such that
           // it swings along the line between Polaris and the Celestial Pole.
-          mount.targetRA() = DayTime(PolarisRAHour, PolarisRAMinute, PolarisRASecond); 
+          mount.targetRA() = DayTime(PolarisRAHour, PolarisRAMinute, PolarisRASecond);
           // Account for the current settings.
           mount.targetRA().addTime(mount.getHACorrection());
           mount.targetRA().subtractTime(mount.HA());
@@ -122,14 +168,45 @@ bool processCalibrationKeys() {
         break;
 
       case HIGHLIGHT_SPEED:
-        if (key == btnDOWN) calState = HIGHLIGHT_POLAR;
+        if (key == btnDOWN) calState = HIGHLIGHT_DRIFT;
         if (key == btnUP) calState = HIGHLIGHT_POLAR;
         else if (key == btnSELECT) calState = SPEED_CALIBRATION;
         else if (key == btnRIGHT) {
           lcdMenu.setNextActive();
           calState = HIGHLIGHT_POLAR;
         }
         break;
+        
+      case HIGHLIGHT_DRIFT:
+        if (key == btnDOWN) calState = HIGHLIGHT_POLAR;
+        if (key == btnUP) calState = HIGHLIGHT_SPEED;
+        else if (key == btnSELECT) calState = DRIFT_CALIBRATION_GET_DURATION;
+        else if (key == btnRIGHT) {
+          lcdMenu.setNextActive();
+          calState = HIGHLIGHT_POLAR;
+        }
+        break;
+        
+      case DRIFT_CALIBRATION_GET_DURATION :
+        if (key == btnDOWN || key == btnLEFT) {
+          driftSubIndex = adjustWrap(driftSubIndex, 1, 0, 3);
+        }
+        if (key == btnUP) {
+          driftSubIndex = adjustWrap(driftSubIndex, -1, 0, 3);
+        }
+        if (key == btnSELECT) {
+          // Take off 6s padding time. 1.5s start pause, 1.5s pause in the middle and 1.5s end pause and general time slop.
+          // These are the times for one way. So total time is 2 x duration + 4.5s
+          int duration[] = { 27, 57, 87, 147};
+          driftDuration = duration[driftSubIndex];
+          calState = DRIFT_CALIBRATION_RUNNING;
+        }
+        else if (key == btnRIGHT) {
+          // RIGHT cancels duration selection and returns to menu
+          calState = HIGHLIGHT_DRIFT;
+          driftSubIndex = 1;
+        }
+        break;
     }
   }
 
@@ -161,6 +238,13 @@ void printCalibrationSubmenu() {
       dtostrf(mount.getSpeedCalibration(), 6, 4, &scratchBuffer[9]);
       lcdMenu.printMenu(scratchBuffer);
       break;
+    case HIGHLIGHT_DRIFT:
+      lcdMenu.printMenu(">Drift alignment");
+    case DRIFT_CALIBRATION_GET_DURATION:
+      sprintf(scratchBuffer, " 1m  2m  3m  5m");
+      scratchBuffer[driftSubIndex * 4] = '>';
+      lcdMenu.printMenu(scratchBuffer);
+      break;
   }
 }
 #endif