V1.5.20 - Updates

- Fixed a bug in time handling (affected HA loading)
- Home menu now takes travelled tracker distance into account and adjusts HA time accordingly.
- Removed Polaris menu and added Polaris as the first Point of Interest.
- Added new INFO menu to show stepper motor positions, version number and any other info that seems needed.
- Removed some of the magic numbers in the stepper calculations that seemed unnecessary.
- Renamed some variables to better describe their meaning.
- Added general comments as well as comments explaining the math behind calculating the RA and DEC steps.
- Changed the RASteps value substantially (from 330 to 300) in accordance with the  math of the hardware setup. Hopefully this will make speed calibration superfluous. It works on my
- Changed speed calibration to be a factor instead of an addition.
- Improved the display while moving (now displays during stopping and displays final coordinate)
- Serial fix: RA setter was not correcting the passed RA correctly.
- Serial fix: Quit command only stops motors for extended command (:Qq#). Regular Quit leaves the motors as they are.
- Serial fix: Added HA set command (:SH)

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -14,25 +14,25 @@
 
   =======================================================================================================================================
 */
-String version = "V1.5.11";
+String version = "V1.5.20";
 
 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.
 
-
-// Belt moves 40mm for one rev (2mm pitch, 20 teeth).
-// RA wheel is 2 x Pi x 180mm circumference which is 1130.97mm
-// One RA revolution needs 28.27 (1131mm/40mm) stepper revolutions
-// which means 115814 steps (28.27 x 4096) moves 360 degrees
-// So 321.7 steps/ degree (115814 / 360)
-int RAStepsPerDegree = 330;      // adjust this value to calibrate RA movement
-
-// Belt moves 40mm for one rev (2mm pitch, 20 teeth).
-// DEC wheel is 2 x Pi x 90mm circumference which is 565.5mm
-// So 14.13 stepper revs (14.13 x 4096 = 57906 steps) moves 360degrees
-// So 160.85 steps/ degree (57906/360)
-int DECStepsPerDegree = 163;     // Number of steps needed to move DEC motor 1 degree.
+// 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
+
+// Belt moves 40mm for one stepper revolution (2mm pitch, 20 teeth).
+// DEC wheel is 2 x PI x 90mm circumference which is 565.5mm
+// One DEC revolution needs 14.13 (565.5mm/40mm) stepper revolutions
+// Which means 57907 steps (14.14 x 4096) moves 360 degrees
+// So there are 160.85 steps/degree (57907/360)
+int DECStepsPerDegree = 161;     // Number of steps needed to move DEC motor 1 degree.
 
 // 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

Software/Arduino code/OpenAstroTracker/a_inits.ino

@@ -36,113 +36,113 @@ LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
 #define RA_Menu 0
 #define DEC_Menu 1
 #define HA_Menu 2
-#define Polaris_Menu 3
 #define Heat_Menu 4
 #define Calibration_Menu 5
 #define Control_Menu 6
 #define Home_Menu 7
 #define POI_Menu 8
+#define Status_Menu 9
 
 // Stepper control for RA and DEV.
 // TRK is used for live tracking and runs in parallel with RA.
 // GUIDE is used for Stellarium control
 AccelStepper stepperRA(FULLSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
 AccelStepper stepperDEC(HALFSTEP, motorPin11, motorPin13, motorPin12, motorPin14);
-AccelStepper stepperTRK(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);     //yes, this is the same motor as stepperRA, dont ask why
-AccelStepper stepperGUIDE(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
 
-int lcd_key     = 0;         // The current key state
-int adc_key_in  = 0;         // The analog value of the keys
+// 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
+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 quitSerialOnNextButtonRelease = false; // Used to detect SELECT button to quit Serial mode.
+String logString;
+boolean isPulseGuiding = true;
 
+// Display related variables
+int displayLoopsToSkip = 400;  // Update the LCD every 400 iterations (perf issue)
+int displaySkipsLeft = 0;    // How many loop cycles left before updating the display
+float totalDECMove = 0;      // The number of DEC steps we asked for
+float totalRAMove = 0;
+int leftArrow = 3;           // LCD special chars
+int rightArrow = 4;          // LCD special chars
 
-int calDelay = 150;          // The current delay when changing calibration value. The longer a button is depressed, the samller this gets.
-
-bool waitForButtonRelease = false; // When a button is pressed should we wait for its release before another loop?
+// Calibration variables
+float inputcal;              // calibration variable set form as integer. Added to speed after dividing by 10000
+float speedCalibration;      // speed calibration factor
+int calDelay = 150;          // The current delay in ms when changing calibration value. The longer a button is depressed, the smaller this gets.
 
 // Variables for use in the CONTROL menu
+bool inControlMode = false;  // Is manual control enabled
 int StateMaskDEC = 0x0011;   // Is the DEC stepper running?
 int StateMaskUp = 0x0001;    // Is the DEC stepper moving upwards?
 int StateMaskDown = 0x0010;  // Is the DEC stepper moving downwards?
 int StateMaskRA = 0x1100;    // Is the RA stepper running?
 int StateMaskLeft = 0x0100;  // Is the RA stepper moving left (CW)?
 int StateMaskRight = 0x1000; // Is the RA stepper moving right (CCW)?
-
 int controlState = 0x0000;   // The current state of the steppers (combination of above values)
-int controlDisplay = 0;      // How many loop cycles left before updating the display
-bool inControlMode = false;  // Is manual control enabled
 
+// Main loop variables
+int lcd_key     = 0;         // The current key state
+int adc_key_in  = 0;         // The analog value of the keys
+bool waitForButtonRelease = false; // When a button is pressed should we wait for its release before another loop?
 int lastKey = btnNONE;       // The key state when we last came through the loop
 
-float totalDECMove = 0;      // The number of DEC steps we asked for
-float totalRAMove = 0;
+// Global variables
 bool isUnreachable = false;
 
-//String inCmd;
-//String inputString = "";
-//String commandString = "";
-//boolean isConnected = false;
-
-String logString;
-//boolean stringComplete = false;
-//unsigned long timeWait;
-boolean isPulseGuiding = true;
-
 unsigned long Zeit;
-float stepsPerHour;
 
+// Stepper motor variables
+float stepsPerHour;           // How many steps does the RA stepper need to make to move 15 degrees (1 hour of earths rotation)
+float trackingSpeed;          // At what speed does the RA stepper need to run to match earths rotation (steps/sec)
+int tracking = 1;             // Are we tracking earths rotation?
+
+// PC Control variables.
 boolean pcControl = false;
-int currentSecs;
-int currentMins;
-float inputcal;
-float speedcalibration;
+
 int direction_old = 1;
 int direction_new;
 
-int hPolarisPosition;
-int mPolarisPosition;
-
-int tracking = 1;
-float trackingspeed;
 
-// RA stuff
+// RA variables
 float moveRA;
 int RAselect;
 
-//DEC stuff
+// DEC variables
 int degreeDEC;
 int minDEC;
 int secDEC;
 float moveDEC;
 int DECselect;
 int printdegDEC;
 
-//Hour stuff
+// HA variables
 int HAselect;
+unsigned long lastHAset = 0;
 
-// HEAT menu settings
+// HEAT menu variables
 int heatselect;   // Which stepper are we changing?
 int RAheat = 0;   // Are we heating the RA stepper?
 int DECheat = 0;  // Are we heating the DEC stepper?
 
-//Stellarium
+// Stellarium variables
 char current_RA[10];
 char current_DEC[12];
 int HAh_save;
 int HAm_save;
 float slew_RA;
 float slew_DEC;
 
-// LCD special chars
-int leftArrow = 3;
-int rightArrow = 4;
 
+// LCD Character bitmaps
 byte DegreesBitmap[8] = {
   B01100,
   B10010,

Software/Arduino code/OpenAstroTracker/b2_daytime.ino

@@ -19,7 +19,7 @@ class DayTime {
       secs = other.secs;
     }
 
-    DayTime(int m, int h, int s) {
+    DayTime(int h, int m, int s) {
       hours = h;
       mins = m;
       secs = s;
@@ -92,7 +92,7 @@ class DayTime {
     }
 
     // Add seconds, wrapping minutes and hours if needed
-    void addSeconds(int deltaSecs) {
+    void addSeconds(long deltaSecs) {
       secs += deltaSecs;
       while (secs > 59) {
         secs -= 60;
@@ -120,6 +120,14 @@ class DayTime {
       addHours(other.getHours());
     }
 
+    // Subtract another time, wrapping seconds, minutes and hours if needed
+    void subtractTime(const DayTime& other)
+    {
+      addSeconds(-other.getSeconds());
+      addMinutes(-other.getMinutes());
+      addHours(-other.getHours());
+    }
+
     // Convert to a standard string (like 14:45:06)
     String ToString()
     {

Software/Arduino code/OpenAstroTracker/b_setup.ino

@@ -6,6 +6,7 @@ LcdMenu lcdMenu(&lcd, 16);
 DayTime RATime;
 DayTime RADisplayTime;
 DayTime HATime;
+DayTime HACorrection;
 
 void setup() {
 
@@ -43,32 +44,36 @@ void setup() {
 
   // Read persisted values
   inputcal = EEPROM.read(0);
-  speedcalibration = speed + inputcal / 10000;
+  speedCalibration = speed + inputcal / 10000;
   HATime = DayTime(EEPROM.read(1), EEPROM.read(2), 0);
-
+  HACorrection.set(HATime);
+  HACorrection.addTime(-h, -m, -s);
+  lastHAset = millis();
+  
 #ifdef DEBUG_MODE
   logv("HATime = %s", HATime.ToString().c_str());
 #endif
 
   // Create the menu items
-  lcdMenu.addItem("RAs", RA_Menu);
+  lcdMenu.addItem("RA", RA_Menu);
   lcdMenu.addItem("DEC", DEC_Menu);
   lcdMenu.addItem("POI", POI_Menu);
   lcdMenu.addItem("HOME", Home_Menu);
   lcdMenu.addItem("HA", HA_Menu);
-  if (north) {
-    lcdMenu.addItem("POL", Polaris_Menu);
-  }
 #ifdef SUPPORT_HEATING
-  lcdMenu.addItem("HEAT", Heat_Menu);
+  lcdMenu.addItem("HEA", Heat_Menu);
 #endif
   lcdMenu.addItem("CTRL", Control_Menu);
   lcdMenu.addItem("CAL", Calibration_Menu);
+  lcdMenu.addItem("INFO", Status_Menu);
 
   // Show a splash screen
   lcd.setCursor(0, 0);
   lcd.print("OpenAstroTracker");
   lcd.setCursor(0, 1);
   lcd.print("     " + version);
   delay(1750);
+
+  doCalculations();
+  stepperTRK.setSpeed(trackingSpeed);
 }

Software/Arduino code/OpenAstroTracker/c5_calcStepperPos.ino

@@ -1,3 +1,4 @@
+/////////////////////////////////////////////
 // This code tells the steppers to what location to move to, given the select right ascension and declination
 void handleDECandRACalculations()
 {
@@ -8,14 +9,16 @@ void handleDECandRACalculations()
   }
 
   // How many steps moves the RA ring one hour along (15degrees?) No idea what 288 is?
-  stepsPerHour = (float(RAStepsPerDegree) / 288.0) * StepsPerRevolution;
+  // stepsPerHour = (float(RAStepsPerDegree) / 288.0) * StepsPerRevolution;
+  stepsPerHour = RAStepsPerDegree * 15.0;
 
   // Where do we want to move RA to? Why divided by 2?
   float moveRA = hourPos * stepsPerHour / 2;
 
   // Where do we want to move DEC to?
   // the variable degreeDEC is 0deg for the celestial pole (90deg), and goes negative only.
-  moveDEC = (degreeDEC * float(DECStepsPerDegree) + minDEC * (float(DECStepsPerDegree) / 60.0f) + secDEC * (float(DECStepsPerDegree) / 3600.0f));
+  moveDEC = degreeDEC + ( minDEC / 60.0f) + (secDEC / 3600.0f); // Convert to double
+  moveDEC *= DECStepsPerDegree;  // How many steps represent that position?
 
   // We can move 6 hours in either direction. Outside of that we need to flip directions.
   float RALimit = (6.0f * stepsPerHour / 2);
@@ -50,19 +53,28 @@ void handleDECandRACalculations()
   stepperDEC.moveTo(targetDEC);
 }
 
+/////////////////////////////////////////////
+// Runs the tracker stepper to compensate for earths rotation.
 void runTracker()
 {
   if (tracking == 1) {
     stepperTRK.runSpeed();
   }
 }
 
-void  doCalculations() {
-  currentSecs = millis() / 1000;
+/////////////////////////////////////////////
+// Calculate tracking speed, RA and DEC display.
+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
+  trackingSpeed  = speedCalibration * RAStepsPerDegree * 15.0f / 3600.0f;
+  stepperTRK.setSpeed(trackingSpeed);
 
   RADisplayTime.set(RATime);
-  DayTime HACorrection(HATime);
-  HACorrection.addTime(-h, -m, -s);
   RADisplayTime.addTime(HACorrection);
 
   if (!north) {

Software/Arduino code/OpenAstroTracker/c65_startup.ino

@@ -1,3 +1,6 @@
+//////////////////////////////////////////////////////////////
+// This file contains the Starup 'wizard' that guides you through initial setup
+
 #define StartupIsPointedAtPole 1
 #define StartupSetHATime 4
 #define StartupWaitForHACompletion 6
@@ -13,7 +16,6 @@
 int startupState = StartupIsPointedAtPole;
 int isAtPole = NO;
 
-
 void startupIsCompleted() {
   startupState = StartupCompleted;
   inStartup = false;