V1.7.25.Az01 - Updates

- Added support for the Altitude motor (using pins 46, 48, 50, and 52)

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/MeadeCommandProcessor.cpp

@@ -319,6 +319,14 @@
 //      Get the current LST of the mount.
 //      Returns: HHMMSS
 //
+// :XGZ#
+//      Get speed of Azimuth motor
+//      Returns: n.nn
+//
+// :XGI#
+//      Get speed of Altitude motor
+//      Returns: n.nn
+//
 // :XSBn#
 //      Set Backlash correction steps 
 //      Sets the number of steps the RA stepper motor needs to overshoot and backtrack when slewing east.
@@ -358,6 +366,14 @@
 //      Set the speed of the DEC motor, immediately. Must be in manual slewing mode.
 //      Returns: nothing
 //
+// :XSZn.nn#
+//      Set speed of Azimuth motor
+//      Returns: nothing
+//
+// :XSIn.nn#
+//      Set speed of ALtitude motor
+//      Returns: nothing
+//
 /////////////////////////////////////////////////////////////////////////////////////////
 
 MeadeCommandProcessor* MeadeCommandProcessor::_instance = nullptr;
@@ -724,6 +740,12 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd) {
     else if (inCmd[1] == 'T') {
       return String(_mount->getSpeed(TRACKING), 7) + "#";
     }
+    else if (inCmd[1] == 'Z') {
+      return String(_mount->getSpeed(AZIMUTH_STEPS), 2) + "#";
+    }
+    else if (inCmd[1] == 'I') {
+      return String(_mount->getSpeed(ALTITUDE_STEPS), 2) + "#";
+    }
     else if (inCmd[1] == 'B') {
       return String(_mount->getBacklashCorrection()) + "#";
     }
@@ -770,6 +792,9 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd) {
     else if (inCmd[1] == 'Z') {
       _mount->setSpeed(AZIMUTH_STEPS, inCmd.substring(2).toFloat());
     }
+    else if (inCmd[1] == 'I') {
+      _mount->setSpeed(ALTITUDE_STEPS, inCmd.substring(2).toFloat());
+    }
     else if (inCmd[1] == 'B') {
       _mount->setBacklashCorrection(inCmd.substring(2).toInt());
     }

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -315,6 +315,10 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3,
   _stepperAZ ->setSpeed(0);
   _stepperAZ ->setMaxSpeed(300);
   _stepperAZ->setAcceleration(400);
+  _stepperALT = new AccelStepper(FULLSTEP, 46, 50, 48, 52);
+  _stepperALT ->setSpeed(0);
+  _stepperALT ->setMaxSpeed(300);
+  _stepperALT->setAcceleration(400);
   #endif
 }
 #endif
@@ -853,6 +857,9 @@ void Mount::setSpeed(int which, float speed) {
   else if (which == AZIMUTH_STEPS) {
     _stepperAZ->setSpeed(speed);
   }
+  else if (which == ALTITUDE_STEPS) {
+    _stepperALT->setSpeed(speed);
+  }
   #endif
 }
 
@@ -1240,6 +1247,7 @@ void Mount::interruptLoop()
 
   #if AZIMUTH_MOTOR
   _stepperAZ->runSpeed();
+  _stepperALT->runSpeed();
   #endif
 
 }

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -33,6 +33,7 @@
 #define SPEED_FACTOR_DECIMALS 3
 #define BACKLASH_CORRECTION 4
 #define AZIMUTH_STEPS 5
+#define ALTITUDE_STEPS 6
 
 //////////////////////////////////////////////////////////////////
 //
@@ -252,6 +253,7 @@ class Mount {
 
   #if AZIMUTH_MOTOR
   AccelStepper* _stepperAZ;
+  AccelStepper* _stepperALT;
   #endif
 
   unsigned long _guideEndTime;

Software/Arduino code/OpenAstroTracker/c76_menuCAL.hpp

@@ -13,7 +13,7 @@
 #define HIGHLIGHT_RA_STEPS 4
 #define HIGHLIGHT_DEC_STEPS 5
 #define HIGHLIGHT_BACKLASH_STEPS 6
-#define HIGHLIGHT_AZIMUTH_CONTROL 7
+#define HIGHLIGHT_AZIMUTH_ALTITUDE_CONTROL 7
 #define HIGHLIGHT_LAST 7
 
 // Polar calibration goes through these three states:
@@ -45,7 +45,7 @@
 // #define BACKLIGHT_CALIBRATION 20
 
 // Azimuth control only has one state, allowing you to move the motor UP and DOWN
-#define AZIMUTH_CONTROL 20
+#define AZIMUTH_ALTITUDE_CONTROL 20
 
 // Start off with Polar Alignment higlighted.
 byte calState = HIGHLIGHT_FIRST;
@@ -68,6 +68,8 @@ int BacklashSteps = 0;
 // The speed of the Azimuth Motor (scaled from 0-100)
 int AzimuthSpeed = 0;
 int lastAzimuthSpeed = 0;
+int AltitudeSpeed = 0;
+int lastAltitudeSpeed = 0;
 
 // The brightness of the backlight of the LCD shield.
 // int Brightness = 255;
@@ -148,7 +150,7 @@ bool processCalibrationKeys() {
       calDelay = 150;
     }
   }
-  else if (calState == AZIMUTH_CONTROL) {
+  else if (calState == AZIMUTH_ALTITUDE_CONTROL) {
     if (lcdButtons.currentState() == btnLEFT) {
       // Speed up to the left
       if (AzimuthSpeed < 100) {
@@ -159,7 +161,7 @@ bool processCalibrationKeys() {
       calDelay = max(2, 0.98 * calDelay);
       checkForKeyChange = false;
     }
-    else if (lcdButtons.currentState() == btnRIGHT) {
+    if (lcdButtons.currentState() == btnRIGHT) {
       // Speed up to the right
       if (AzimuthSpeed > -100) {
         AzimuthSpeed -= 1; //0.0001;
@@ -169,18 +171,51 @@ bool processCalibrationKeys() {
       calDelay = max(2, 0.98 * calDelay);
       checkForKeyChange = false;
     }
-    else {
-      // No more buttons pressed, decelerate at 3% per cycle
+    // If neither Left nor Right is pressed...
+    if ((lcdButtons.currentState() != btnRIGHT) && (lcdButtons.currentState() != btnLEFT)) {
+      // ... decelerate at 3% per cycle
       if (AzimuthSpeed > 0) {
         AzimuthSpeed = adjustClamp(AzimuthSpeed, -3, 0, 100);
       }
       else if (AzimuthSpeed < 0) {
         AzimuthSpeed = adjustClamp(AzimuthSpeed, 3, -100, 0);
       }
-      else {
+    }
+    
+    if (lcdButtons.currentState() == btnUP) {
+      // Speed up to the left
+      if (AltitudeSpeed < 100) {
+        AltitudeSpeed += 1; //0.0001;
+      }
+
+      // Accelerate speed increase over time
+      calDelay = max(2, 0.98 * calDelay);
+      checkForKeyChange = false;
+    }
+    if (lcdButtons.currentState() == btnDOWN) {
+      // Speed up to the right
+      if (AltitudeSpeed > -100) {
+        AltitudeSpeed -= 1; //0.0001;
+      }
+
+      // Accelerate speed increase over time
+      calDelay = max(2, 0.98 * calDelay);
+      checkForKeyChange = false;
+    }
+        // If neither Up nor Down is pressed...
+    if ((lcdButtons.currentState() != btnUP) && (lcdButtons.currentState() != btnDOWN)) {
+      // ... decelerate at 3% per cycle
+      if (AltitudeSpeed > 0) {
+        AltitudeSpeed = adjustClamp(AltitudeSpeed, -3, 0, 100);
+      }
+      else if (AltitudeSpeed < 0) {
+        AltitudeSpeed = adjustClamp(AltitudeSpeed, 3, -100, 0);
+      }
+    }
+
+    if ((AzimuthSpeed == 0) && (AltitudeSpeed == 0)) {
         // Once we're stopped, set the initial key delay back to 100ms
         calDelay = 100;
-      }
     }
 
     // If we changed speeds, tell the mount motor
@@ -189,6 +224,11 @@ bool processCalibrationKeys() {
       lastAzimuthSpeed = AzimuthSpeed;
     }
 
+    if (AltitudeSpeed != lastAltitudeSpeed) {
+      mount.setSpeed(ALTITUDE_STEPS, 300.0 * AltitudeSpeed / 100.0);
+      lastAltitudeSpeed = AltitudeSpeed;
+    }
+
     mount.delay(calDelay);
   }
   else if (calState == RA_STEP_CALIBRATION) {
@@ -325,15 +365,14 @@ bool processCalibrationKeys() {
       }
       break;
 
-      case AZIMUTH_CONTROL: 
+      case AZIMUTH_ALTITUDE_CONTROL: 
       {
-        // UP and DOWN are handled above
+        // UP, DOWN, LEFT, and RIGHT are handled above
         if (key == btnSELECT) {
-          calState = HIGHLIGHT_AZIMUTH_CONTROL;
-        }
-        else if (key == btnRIGHT) {
-          lcdMenu.setNextActive();
-          calState = HIGHLIGHT_AZIMUTH_CONTROL;
+          // Make sure motors are stoppped!
+          mount.setSpeed(AZIMUTH_STEPS, 0);
+          mount.setSpeed(ALTITUDE_STEPS, 0);
+          calState = HIGHLIGHT_AZIMUTH_ALTITUDE_CONTROL;
         }
       }
       break;
@@ -501,14 +540,14 @@ bool processCalibrationKeys() {
       }
       break;
 
-      case HIGHLIGHT_AZIMUTH_CONTROL:
+      case HIGHLIGHT_AZIMUTH_ALTITUDE_CONTROL:
       {
         if (key == btnDOWN)
           gotoNextHighlightState(1);
         if (key == btnUP)
           gotoNextHighlightState(-1);
         else if (key == btnSELECT)
-          calState = AZIMUTH_CONTROL;
+          calState = AZIMUTH_ALTITUDE_CONTROL;
         else if (key == btnRIGHT) {
           lcdMenu.setNextActive();
           calState = HIGHLIGHT_FIRST;
@@ -553,8 +592,8 @@ void printCalibrationSubmenu()
   else if (calState == HIGHLIGHT_BACKLASH_STEPS) {
     lcdMenu.printMenu(">Backlash Adjust");
   }
-  else if (calState == HIGHLIGHT_AZIMUTH_CONTROL) {
-    lcdMenu.printMenu(">Azimuth Control");
+  else if (calState == HIGHLIGHT_AZIMUTH_ALTITUDE_CONTROL) {
+    lcdMenu.printMenu(">Az/Alt Control");
   }
   // else if (calState == HIGHLIGHT_BACKLIGHT) {
   //   lcdMenu.printMenu(">LCD Brightness");
@@ -589,8 +628,8 @@ void printCalibrationSubmenu()
     sprintf(scratchBuffer, "Backlash: %d", BacklashSteps);
     lcdMenu.printMenu(scratchBuffer);
   }
-  else if (calState == AZIMUTH_CONTROL) {
-    sprintf(scratchBuffer, "AzimuthSpd: %d%%", AzimuthSpeed);
+  else if (calState == AZIMUTH_ALTITUDE_CONTROL) {
+    sprintf(scratchBuffer, "Az/Alt: %d%% %d%%", AzimuthSpeed, AltitudeSpeed);
     lcdMenu.printMenu(scratchBuffer);
   }
   // else if (calState == BACKLIGHT_CALIBRATION) {