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satnogs-rotator-controller
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Add new homing function.

v1
Agis Zisimatos 2014-11-11 21:14:11 +02:00
parent 57511af004
commit 3e40c290f7
1 changed files with 21 additions and 12 deletions
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33
Arduino/SatNOGS.ino
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@ -13,7 +13,7 @@
#define SPR 200 //Step Per Revolution #define SPR 200 //Step Per Revolution
#define RATIO 60 //Gear ratio #define RATIO 60 //Gear ratio
#define T_DELAY 20000 //Time to disable the motors in millisecond #define T_DELAY 60000 //Time to disable the motors in millisecond
#define HOME_AZ 4 //Homing switch for Azimuth #define HOME_AZ 4 //Homing switch for Azimuth
#define HOME_EL 5 //Homing switch for Elevation #define HOME_EL 5 //Homing switch for Elevation
@ -53,9 +53,10 @@ void setup()
/*Serial Communication*/ /*Serial Communication*/
Serial.begin(19200); Serial.begin(19200);
/*Initial Homing*/ /*Initial Homing*/
Initial_Homing(); Homing(deg2step(-ANGLE_SCANNING_MULT), deg2step(-ANGLE_SCANNING_MULT));
} }
/*Homing Function*/
void loop() void loop()
{ {
/*Define the steps*/ /*Define the steps*/
@ -65,10 +66,12 @@ void loop()
/*Time Check*/ /*Time Check*/
if (t_DIS == 0) if (t_DIS == 0)
t_DIS = millis(); t_DIS = millis();
/*Disable Motors*/ /*Disable Motors*/
if (AZstep == AZstepper.currentPosition() && ELstep == ELstepper.currentPosition() && millis()-t_DIS > T_DELAY) if (AZstep == AZstepper.currentPosition() && ELstep == ELstepper.currentPosition() && millis()-t_DIS > T_DELAY)
{
digitalWrite(EN, HIGH); digitalWrite(EN, HIGH);
}
/*Enable Motors*/ /*Enable Motors*/
else else
digitalWrite(EN, LOW); digitalWrite(EN, LOW);
@ -79,14 +82,12 @@ void loop()
stepper_move(AZstep, ELstep); stepper_move(AZstep, ELstep);
} }
void Initial_Homing() void Homing(int AZsteps, int ELsteps)
{ {
int value_Home_AZ = HIGH; int value_Home_AZ = HIGH;
int value_Home_EL = HIGH; int value_Home_EL = HIGH;
int n_AZ = 1; //Times that AZ angle has changed int n_AZ = 1; //Times that AZ angle has changed
int n_EL = 1; //Times that EL angle has changed int n_EL = 1; //Times that EL angle has changed
int AZsteps = deg2step(-n_AZ*ANGLE_SCANNING_MULT); //Initial scanning steps for AZ
int ELsteps = deg2step(-n_EL*ANGLE_SCANNING_MULT); //Initial scanning steps for EL
boolean isHome_AZ = false; boolean isHome_AZ = false;
boolean isHome_EL = false; boolean isHome_EL = false;
@ -137,15 +138,15 @@ void Initial_Homing()
/*Delay to Deccelerate*/ /*Delay to Deccelerate*/
long time = millis(); long time = millis();
while(millis() - time < HOME_DELAY) while(millis() - time < HOME_DELAY)
{ {
AZstepper.run(); AZstepper.run();
ELstepper.run(); ELstepper.run();
} }
/*Reset the steps*/ /*Reset the steps*/
AZstepper.setCurrentPosition(0); AZstepper.setCurrentPosition(0);
ELstepper.setCurrentPosition(0); ELstepper.setCurrentPosition(0);
} }
/*EasyComm 2 Protocol & Calculate the steps*/ /*EasyComm 2 Protocol & Calculate the steps*/
void cmd_proc(int &stepAz, int &stepEl) void cmd_proc(int &stepAz, int &stepEl)
{ {
@ -187,6 +188,14 @@ void cmd_proc(int &stepAz, int &stepEl)
{ {
stepEl = ELstepper.currentPosition();; stepEl = ELstepper.currentPosition();;
} }
else if (buffer[0] == 'H' && buffer[1] == 'M')
{
/*Move the steppers to initial position*/
Homing(0,0);
/*Zero the steps*/
stepAz = 0;
stepEl = 0;
}
counter = 0; counter = 0;
/*Reset the disable motor time*/ /*Reset the disable motor time*/
t_DIS = 0; t_DIS = 0;
@ -208,20 +217,20 @@ void error(int num_error)
case (0): case (0):
while(1) while(1)
{ {
Serial.println("Error[0]: Azimuth Homing"); Serial.println("AL001");
delay(100); delay(100);
} }
/*Elevation error*/ /*Elevation error*/
case (1): case (1):
while(1) while(1)
{ {
Serial.println("Error[1]: Elevation Homing"); Serial.println("AL002");
delay(100); delay(100);
} }
default: default:
while(1) while(1)
{ {
Serial.println("Error[?]: Unknown error"); Serial.println("AL000");
delay(100); delay(100);
} }
} }