Unify arduino files, add arduino micro shield.

Arduino/SatNOGS.ino

@@ -2,59 +2,171 @@
 #include <stdlib.h>
 #include <math.h>
 
-#define DIR_AZ 8
+#define DIR_AZ 18
-#define STEP_AZ 9
+#define STEP_AZ 10
-#define EN_AZ 7
 
-#define DIR_EL 10
+#define DIR_EL 6
-#define STEP_EL 11
+#define STEP_EL 7
-#define EN_EL 12
 
-#define SPD 200 //step per degree
+#define MS1 9
-#define T_DEALY 10000
+#define EN 8
-#define T_STEPPER 1
 
-int stepPosAz = 0;
+#define SPR 200 //Step Per Revolution
-int stepAz = 0;
+#define RATIO 60 //Gear ratio
-int stepPosEl = 0;
+#define T_DEALY 10000 //Time to disable the motors
-int stepEl = 0;
+#define T_STEPPER 1000 //2*T_STEPPER is the period of pulses
-long t1 = 0;
 
+/*Global Variables*/
+long t_DIS = 0; //time to disable the Motors
 
 void setup()
 {
+  /*Define the Stepper drivers PIN's*/
   pinMode(DIR_AZ, OUTPUT);
   pinMode(STEP_AZ, OUTPUT);  
-  pinMode(EN_AZ, OUTPUT);
-  digitalWrite(EN_AZ, LOW);
-  digitalWrite(DIR_AZ, LOW);
-  
   pinMode(DIR_EL, OUTPUT);
   pinMode(STEP_EL, OUTPUT);
-  pinMode(EN_EL, OUTPUT);
+  digitalWrite(STEP_AZ, LOW);
-  digitalWrite(EN_EL, LOW);
+  digitalWrite(DIR_AZ, LOW);
+  digitalWrite(STEP_EL, LOW);
   digitalWrite(DIR_EL, LOW);
+  /*Enable Motors*/
+  pinMode(EN, OUTPUT);
+  digitalWrite(EN, LOW);
+  /*Step size */
+  pinMode(MS1, OUTPUT);
+  digitalWrite(MS1, LOW); //Full step
  
   Serial.begin(19200);
 }
 
 void loop()
 { 
+  /*Define the steps*/
+  static int AZstep = 0;
+  static int ELstep = 0;
+  /*Define the steps from the start of motion*/
+  static int AZstepPos = 0;
+  static int ELstepPos = 0;
+  
   /*Time Check*/
-  if (t1 == 0)
+  if (t_DIS == 0)
-    t1 = millis();
+    t_DIS = millis();
-  if (stepAz == 0 && stepEl == 0 && millis()-t1 > T_DEALY)
+  /*Disable Motors*/
-  {
+  if (AZstep == 0 && ELstep == 0 && millis()-t_DIS > T_DEALY)
-    digitalWrite(EN_AZ, HIGH);
+    digitalWrite(EN, HIGH);
-    digitalWrite(EN_EL, HIGH);
+  /*Enable Motors*/
-  }
   else
+    digitalWrite(EN, LOW);
+  
+  /*Read the steps from serial*/
+  cmd_proc(AZstep, ELstep, AZstepPos, AZstepPos);
+  /*Move the Azimuth & Elevation Motor*/
+  stepper_move(AZstep, ELstep, AZstepPos, ELstepPos);
+  Serial.print(AZstepPos);Serial.print("\t");
+  Serial.println(AZstep);
+}
+
+/*EasyComm 2 Protocol & Calculate the steps*/
+void cmd_proc(int &stepAz, int &stepEl, int stepPosAz, int stepPosEl)
+{
+  /*Serial*/
+  static char buffer[256];
+  char incomingByte;
+  static int counter=0;
+  char data[100];
+  
+  /*Read from serial*/
+  while (Serial.available() > 0)
   {
-    digitalWrite(EN_AZ, LOW);
+    incomingByte = Serial.read();
-    digitalWrite(EN_EL, LOW);
+    /*new data*/
+    if (incomingByte == '\n' || incomingByte == ' ' || incomingByte == '\r')
+    {
+      buffer[counter]=0;
+      if (buffer[0] == 'A' && buffer[1] == 'Z')
+      {
+        strncpy(data, buffer+2, 100);
+        /*Get the absolute value of angle*/
+        double angleAz = atof(data);
+        /*Calculate the steps*/
+        stepAz = deg2step(angleAz) - stepPosAz;
+      }
+      else if (buffer[0] == 'E' && buffer[1] == 'L')
+      {
+        strncpy(data, buffer+2, 10);
+        /*Get the absolute value of angle*/
+        double angleEl = atof(data);
+        /*Calculate the steps*/
+        stepEl = deg2step(angleEl) - stepPosEl;
+      }
+      else if (buffer[0] == 'S' && buffer[1] == 'A')
+      {
+        stepAz = 0;
+      }
+      else if (buffer[0] == 'S' && buffer[1] == 'E')
+      {
+        stepEl = 0;
+      }
+      counter = 0;
+      /*Reset the disable motor time*/
+      t_DIS = 0;
+    }
+    /*Fill the buffer with incoming data*/
+    else {
+      buffer[counter] = incomingByte;
+      counter++;
+    }
+  }
+}
+
+/*Send pulses to stepper motor drivers*/
+void stepper_move(int &stepAz, int &stepEl, int &stepPosAz, int &stepPosEl)
+{
+  if(stepAz > 0)
+  {
+    digitalWrite(DIR_AZ, HIGH);
+    digitalWrite(STEP_AZ, HIGH); 
+    stepPosAz++;
+    stepAz--;
+  }
+  else if(stepAz < 0)
+  {
+    digitalWrite(DIR_AZ, LOW);
+    digitalWrite(STEP_AZ, HIGH);
+    stepPosAz--;
+    stepAz++;
   }
 
-  cmd_proc();
+  if(stepEl > 0)
+  {
+    digitalWrite(DIR_EL, LOW);
+    digitalWrite(STEP_EL, HIGH); 
+    stepPosEl++;
+    stepEl--;
+  }
+  else if(stepEl < 0)
+  {
+    digitalWrite(DIR_EL, HIGH);
+    digitalWrite(STEP_EL, HIGH);
+    stepPosEl--;
+    stepEl++;
+  }
   
-  stepper_move();
+  delayMicroseconds(T_STEPPER);
+  digitalWrite(STEP_AZ, LOW);
+  digitalWrite(STEP_EL, LOW);
+  delayMicroseconds(T_STEPPER);
+}
+
+/*Convert degrees to steps*/
+int deg2step(double deg)
+{
+  return(RATIO*SPR*deg/360);
+}
+
+/*Convert steps to degrees*/
+double step2deg(int Step)
+{
+  return(360*Step/(SPR*RATIO));
 }

Arduino/Serial.ino

@@ -1,51 +0,0 @@
-void cmd_proc()
-{
-  /*Serial*/
-  static char buffer[256];
-  char incomingByte;
-  static int counter=0;
-  char data[100];
-  
-  /*Read from serial*/
-  while (Serial.available() > 0)
-  {
-    incomingByte = Serial.read();
-    /*new data*/
-    if (incomingByte == '\n' || incomingByte == ' ' || incomingByte == '\r')
-    {
-      buffer[counter]=0;
-      if (buffer[0] == 'A' && buffer[1] == 'Z')
-      {
-        strncpy(data, buffer+2, 100);
-        double cmdAz = atof(data);
-        
-        stepAz = deg2step(cmdAz)-stepPosAz;        
-      }
-      else if (buffer[0] == 'E' && buffer[1] == 'L')
-      {
-        strncpy(data, buffer+2, 10);
-        double cmdEl = atof(data);
-        
-        stepEl = deg2step(cmdEl)-stepPosEl;
-      }
-      else if (buffer[0] == 'S' && buffer[1] == 'A')
-      {
-        stepAz = 0;
-      }
-      else if (buffer[0] == 'S' && buffer[1] == 'E')
-      {
-        stepEl = 0;
-      }
-
-      counter = 0;
-      
-      //Reset time
-      t1 = 0;      
-    }
-    /*Fill the buffer with incoming data*/
-    else {
-      buffer[counter] = incomingByte;
-      counter++;
-    }
-  }
-}

Arduino/Stepper.ino

@@ -1,49 +0,0 @@
-/* Send pulses to stepper motor drivers */
-void stepper_move()
-{
-  if(stepAz>0)
-  {
-    digitalWrite(DIR_AZ, HIGH);
-    digitalWrite(STEP_AZ, HIGH); 
-    stepPosAz++;
-    stepAz--;
-  }
-  else if(stepAz<0)
-  {
-    digitalWrite(DIR_AZ, LOW);
-    digitalWrite(STEP_AZ, HIGH);
-    stepPosAz--;
-    stepAz++;
-  }
-
-  if(stepEl>0)
-  {
-    digitalWrite(DIR_EL, LOW);
-    digitalWrite(STEP_EL, HIGH); 
-    stepPosEl++;
-    stepEl--;
-  }
-  else if(stepEl<0)
-  {
-    digitalWrite(DIR_EL, HIGH);
-    digitalWrite(STEP_EL, HIGH);
-    stepPosEl--;
-    stepEl++;
-  }
-  
-  delay(T_STEPPER);
-  digitalWrite(STEP_AZ, LOW);
-  digitalWrite(STEP_EL, LOW);
-  delay(T_STEPPER);
-
-}
-/* Convert degrees to steps */
-int deg2step(double deg)
-{
-  return(60*SPR*deg/360);
-}
-/* Convert steps to degrees */
-float step2deg(int Step)
-{
-  return(360*Step/(SPR*60));
-}

README.md

@@ -1,7 +1,9 @@
 SatNOGS Arduino
 ===============
 
-Repository of Arduino code for SatNOGS project.
+Repository of Arduino code and Arduino PCB for SatNOGS project.
 Refer to block diagram in the repository for wiring documentation.
 
-![satnogs_Diagram](https://raw.github.com/satnogs/satnogs-arduino/master/Pics/Block Diagram.png)
+The PCB is based in [Arduino Pro Micro](https://www.sparkfun.com/products/12640) and the [Pololu stepper motor driver](http://www.pololu.com/product/1182). In the picture below you can see the PCB.
+
+![satnogs_PCB](https://raw.github.com/satnogs/satnogs-arduino/master/Pics/SatNOGS_Board.png)