Fix the AZ EL(get position) and AZ%f EL%f (set position) commands.
parent
7de7fa3621
commit
560f143628
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@ -1,4 +1,3 @@
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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@ -31,7 +30,6 @@ unsigned long t_DIS = 0; //time to disable the Motors
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AccelStepper AZstepper(1, STEP_AZ, DIR_AZ);
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AccelStepper ELstepper(1, STEP_EL, DIR_EL);
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void setup()
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{
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/*Change these to suit your stepper if you want*/
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@ -152,11 +150,15 @@ void Homing(int AZsteps, int ELsteps)
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void cmd_proc(int &stepAz, int &stepEl)
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{
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/*Serial*/
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static char buffer[256];
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char buffer[256];
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char incomingByte;
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static int counter=0;
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char *p=buffer;
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char *str;
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int counter=0;
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char data[100];
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double angleAz,angleEl;
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/*Read from serial*/
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while (Serial.available() > 0)
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{
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@ -164,41 +166,41 @@ void cmd_proc(int &stepAz, int &stepEl)
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/*new data*/
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if (incomingByte == '\n')
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{
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p = buffer;
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buffer[counter] = 0;
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if (buffer[0] == 'A' && buffer[1] == 'Z')
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{
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/* Get position */
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if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
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{
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Serial.print(4);
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stepAz = AZstepper.currentPosition();
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stepEl = ELstepper.currentPosition();
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/* Get position */
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Serial.print("AZ");
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Serial.print(step2deg(stepAz));
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Serial.print(step2deg(AZstepper.currentPosition()));
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(step2deg(stepEl));
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Serial.println(step2deg(ELstepper.currentPosition()));
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}
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/* Move Azimuth */
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else
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{
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strncpy(data, buffer+2, 100);
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/*Get the absolute value of angle*/
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double angleAz = atof(data);
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str = strtok_r(p, " " , &p);
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strncpy(data, str+2, 10);
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angleAz = atof(data);
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/*Calculate the steps*/
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stepAz = deg2step(angleAz);
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}
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}
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/* Move elevation */
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else if (buffer[0] == 'E' && buffer[1] == 'L')
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{
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strncpy(data, buffer+2, 10);
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/*Get the absolute value of angle*/
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double angleEl = atof(data);
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str = strtok_r(p, " " , &p);
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if (str[0] == 'E' && str[1] == 'L')
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{
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strncpy(data, str+2, 10);
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angleEl = atof(data);
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/*Calculate the steps*/
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stepEl = deg2step(angleEl);
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}
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Serial.println(angleAz);
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Serial.println(angleEl);
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}
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}
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/* Stop Moving */
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else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
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{
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@ -273,5 +275,5 @@ int deg2step(double deg)
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/*Convert steps to degrees*/
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double step2deg(int Step)
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{
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return(360*Step/(SPR*RATIO));
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return(360.00*Step/(SPR*RATIO));
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}
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@ -0,0 +1,36 @@
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# Ignore list for Eagle, a PCB layout tool
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# Backup files
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*.s#?
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*.b#?
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*.l#?
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# Eagle project file
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# It contains a serial number and references to the file structure
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# on your computer.
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# comment the following line if you want to have your project file included.
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eagle.epf
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# CAM files
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#*.$$$
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#*.cmp
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#*.ly2
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#*.l15
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#*.sol
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#*.plc
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#*.stc
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#*.sts
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#*.crc
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#*.crs
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#*.dri
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#*.drl
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#*.gpi
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#*.pls
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#*.drd
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#*.drd.*
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#*.info
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#*.eps
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File diff suppressed because it is too large
Load Diff
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@ -12,7 +12,7 @@
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<layer number="16" name="Bottom" color="1" fill="1" visible="yes" active="yes"/>
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<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
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<layer number="18" name="Vias" color="2" fill="1" visible="yes" active="yes"/>
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<layer number="19" name="Unrouted" color="6" fill="1" visible="no" active="yes"/>
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<layer number="19" name="Unrouted" color="6" fill="1" visible="yes" active="yes"/>
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<layer number="20" name="Dimension" color="15" fill="1" visible="yes" active="yes"/>
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<layer number="21" name="tPlace" color="7" fill="1" visible="yes" active="yes"/>
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<layer number="22" name="bPlace" color="7" fill="1" visible="yes" active="yes"/>
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@ -2119,10 +2119,6 @@ design rules under a new name.</description>
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<wire x1="52.07" y1="35.56" x2="55.88" y2="35.56" width="1.016" layer="16"/>
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<wire x1="55.88" y1="35.56" x2="57.15" y2="34.29" width="1.016" layer="16"/>
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<wire x1="57.15" y1="34.29" x2="57.15" y2="15.24" width="1.016" layer="16"/>
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<wire x1="50.8" y1="13.97" x2="50.8" y2="12.7" width="1.016" layer="16"/>
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<wire x1="50.8" y1="12.7" x2="53.34" y2="10.16" width="1.016" layer="16"/>
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<wire x1="53.34" y1="10.16" x2="55.88" y2="10.16" width="1.016" layer="16"/>
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<wire x1="55.88" y1="10.16" x2="57.15" y2="11.43" width="1.016" layer="16"/>
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<wire x1="57.15" y1="11.43" x2="57.15" y2="15.24" width="1.016" layer="16"/>
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<via x="27.94" y="10.16" extent="1-16" drill="0.9" diameter="1.6764" shape="square"/>
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<wire x1="27.94" y1="10.16" x2="27.94" y2="1.27" width="1.016" layer="1"/>
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@ -2130,17 +2126,19 @@ design rules under a new name.</description>
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<wire x1="27.94" y1="1.27" x2="52.07" y2="1.27" width="1.016" layer="16"/>
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<wire x1="52.07" y1="1.27" x2="53.34" y2="2.54" width="1.016" layer="16"/>
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<wire x1="53.34" y1="2.54" x2="53.34" y2="7.62" width="1.016" layer="16"/>
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<wire x1="53.34" y1="7.62" x2="55.88" y2="10.16" width="1.016" layer="16"/>
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<wire x1="53.34" y1="7.62" x2="57.15" y2="11.43" width="1.016" layer="16"/>
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<wire x1="29.21" y1="15.24" x2="29.21" y2="12.7" width="0.8128" layer="16"/>
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<wire x1="29.21" y1="12.7" x2="27.94" y2="11.43" width="0.8128" layer="16"/>
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<wire x1="27.94" y1="11.43" x2="27.94" y2="10.16" width="0.8128" layer="16"/>
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<wire x1="22.86" y1="13.97" x2="25.4" y2="13.97" width="0.8128" layer="16"/>
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<wire x1="25.4" y1="13.97" x2="27.94" y2="11.43" width="0.8128" layer="16"/>
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<wire x1="38.1" y1="66.04" x2="39.37" y2="67.31" width="1.016" layer="16"/>
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<wire x1="39.37" y1="67.31" x2="49.53" y2="67.31" width="1.016" layer="16"/>
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<wire x1="49.53" y1="67.31" x2="50.8" y2="66.04" width="1.016" layer="16"/>
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<wire x1="50.8" y1="66.04" x2="50.8" y2="63.5254" width="1.016" layer="16"/>
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<wire x1="50.8" y1="63.5254" x2="50.7746" y2="63.5" width="1.016" layer="16"/>
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<wire x1="50.8" y1="13.97" x2="50.8" y2="10.16" width="1.016" layer="16"/>
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<wire x1="50.8" y1="10.16" x2="53.34" y2="7.62" width="1.016" layer="16"/>
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<wire x1="22.86" y1="13.97" x2="24.13" y2="13.97" width="0.8128" layer="16"/>
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<wire x1="24.13" y1="13.97" x2="27.94" y2="10.16" width="0.8128" layer="16"/>
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</signal>
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<signal name="VCC">
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<contactref element="DRIVER1" pad="10"/>
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@ -2188,10 +2186,10 @@ design rules under a new name.</description>
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<wire x1="30.48" y1="10.16" x2="31.75" y2="11.43" width="0.8128" layer="16"/>
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<wire x1="31.75" y1="11.43" x2="34.29" y2="11.43" width="0.8128" layer="16"/>
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<wire x1="6.35" y1="2.54" x2="24.13" y2="2.54" width="0.8128" layer="16"/>
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<wire x1="24.13" y1="2.54" x2="25.4" y2="3.81" width="0.8128" layer="16"/>
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<wire x1="25.4" y1="3.81" x2="25.4" y2="5.08" width="0.8128" layer="16"/>
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<wire x1="25.4" y1="5.08" x2="30.48" y2="8.89" width="0.8128" layer="16"/>
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<wire x1="30.48" y1="8.89" x2="30.48" y2="10.16" width="0.8128" layer="16"/>
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<wire x1="30.48" y1="6.35" x2="30.48" y2="10.16" width="0.8128" layer="16"/>
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<wire x1="24.13" y1="2.54" x2="26.67" y2="5.08" width="0.8128" layer="16"/>
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<wire x1="26.67" y1="5.08" x2="29.21" y2="5.08" width="0.8128" layer="16"/>
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<wire x1="29.21" y1="5.08" x2="30.48" y2="6.35" width="0.8128" layer="16"/>
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</signal>
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<signal name="M_EN">
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<contactref element="DRIVER2" pad="1"/>
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@ -2273,10 +2271,9 @@ design rules under a new name.</description>
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<via x="48.26" y="24.13" extent="1-16" drill="1" diameter="1.778" shape="square"/>
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<wire x1="48.26" y1="24.13" x2="48.26" y2="20.32" width="0.8128" layer="16"/>
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<wire x1="48.26" y1="26.67" x2="48.26" y2="24.13" width="0.8128" layer="16"/>
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<wire x1="20.32" y1="26.67" x2="22.86" y2="24.13" width="0.8128" layer="16"/>
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<wire x1="21.59" y1="20.32" x2="21.59" y2="22.86" width="0.8128" layer="16"/>
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<wire x1="43.18" y1="24.13" x2="22.86" y2="24.13" width="0.8128" layer="16"/>
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<wire x1="22.86" y1="24.13" x2="21.59" y2="22.86" width="0.8128" layer="16"/>
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<wire x1="20.32" y1="26.67" x2="21.59" y2="24.13" width="0.8128" layer="16"/>
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<wire x1="21.59" y1="20.32" x2="21.59" y2="24.13" width="0.8128" layer="16"/>
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<wire x1="43.18" y1="24.13" x2="21.59" y2="24.13" width="0.8128" layer="16"/>
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</signal>
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<signal name="SDA">
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<contactref element="UC" pad="5"/>
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@ -2377,6 +2374,7 @@ design rules under a new name.</description>
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|||
<approved hash="7,39,977ffcfcfcfefaa5"/>
|
||||
<approved hash="7,39,e7cfe5cde5cde7cf"/>
|
||||
<approved hash="7,39,75e96cd96cd975e9"/>
|
||||
<approved hash="5,16,bb90ad0c98a69885"/>
|
||||
<approved hash="18,29,f11f621d3716a414"/>
|
||||
<approved hash="18,29,5e297480218a0b23"/>
|
||||
<approved hash="18,29,2725ef8cba96723f"/>
|
||||
|
@ -2397,29 +2395,28 @@ design rules under a new name.</description>
|
|||
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|
||||
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<approved hash="18,29,0ff5ee4afa50eb94"/>
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<approved hash="18,29,984948ab3d3d2466"/>
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<approved hash="18,29,9834a018d5af24aa"/>
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<approved hash="18,29,84cd6ced1b4327ea"/>
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<approved hash="18,29,984948ab3d3d2466"/>
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<approved hash="18,29,9509177f6ed129ae"/>
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|
||||
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|
||||
</errors>
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||||
</board>
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||||
</drawing>
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||||
|
|
|
@ -0,0 +1,36 @@
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|||
# Ignore list for Eagle, a PCB layout tool
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||||
|
||||
# Backup files
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||||
*.s#?
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||||
*.b#?
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||||
*.l#?
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||||
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||||
# Eagle project file
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||||
# It contains a serial number and references to the file structure
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||||
# on your computer.
|
||||
# comment the following line if you want to have your project file included.
|
||||
eagle.epf
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||||
|
||||
# CAM files
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||||
#*.$$$
|
||||
#*.cmp
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||||
#*.ly2
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||||
#*.l15
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||||
#*.sol
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||||
#*.plc
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||||
#*.stc
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||||
#*.sts
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||||
#*.crc
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||||
#*.crs
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||||
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||||
#*.dri
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||||
#*.drl
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||||
#*.gpi
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||||
#*.pls
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||||
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||||
#*.drd
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||||
#*.drd.*
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||||
|
||||
#*.info
|
||||
|
||||
#*.eps
|
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Reference in New Issue