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satnogs-rotator-controller
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Add RESET and AZ EL (get position) commands.

v1
Agis Zisimatos 2014-12-31 01:55:59 +02:00
parent 3e40c290f7
commit 7de7fa3621
1 changed files with 36 additions and 18 deletions
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54
Arduino/SatNOGS.ino
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@ -1,3 +1,4 @@
#include <string.h>
#include <stdlib.h>
#include <math.h>
@ -18,9 +19,9 @@
#define HOME_AZ 4 //Homing switch for Azimuth
#define HOME_EL 5 //Homing switch for Elevation
/*The MAX_ANGLE depends of ANGLE_SCANNING_MULT and maybe misbehave for large values*/
#define ANGLE_SCANNING_MULT 10 //Angle scanning multiplier
#define MAX_AZ_ANGLE 200 //Maximum Angle of Azimuth for homing scanning
#define MAX_EL_ANGLE 100 //Maximum Angle of Elevation for homing scanning
#define ANGLE_SCANNING_MULT 180 //Angle scanning multiplier
#define MAX_AZ_ANGLE 360 //Maximum Angle of Azimuth for homing scanning
#define MAX_EL_ANGLE 360 //Maximum Angle of Elevation for homing scanning
#define HOME_DELAY 6000 //Time for homing Decceleration in millisecond
@ -56,7 +57,6 @@ void setup()
Homing(deg2step(-ANGLE_SCANNING_MULT), deg2step(-ANGLE_SCANNING_MULT));
}
/*Homing Function*/
void loop()
{
/*Define the steps*/
@ -82,6 +82,7 @@ void loop()
stepper_move(AZstep, ELstep);
}
/*Homing Function*/
void Homing(int AZsteps, int ELsteps)
{
int value_Home_AZ = HIGH;
@ -161,17 +162,35 @@ void cmd_proc(int &stepAz, int &stepEl)
{
incomingByte = Serial.read();
/*new data*/
if (incomingByte == '\n' || incomingByte == ' ' || incomingByte == '\r')
if (incomingByte == '\n')
{
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);
/* Get position */
if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
{
Serial.print(4);
stepAz = AZstepper.currentPosition();
stepEl = ELstepper.currentPosition();
Serial.print("AZ");
Serial.print(step2deg(stepAz));
Serial.print(" ");
Serial.print("EL");
Serial.println(step2deg(stepEl));
}
/* Move Azimuth */
else
{
strncpy(data, buffer+2, 100);
/*Get the absolute value of angle*/
double angleAz = atof(data);
/*Calculate the steps*/
stepAz = deg2step(angleAz);
}
}
/* Move elevation */
else if (buffer[0] == 'E' && buffer[1] == 'L')
{
strncpy(data, buffer+2, 10);
@ -180,22 +199,21 @@ void cmd_proc(int &stepAz, int &stepEl)
/*Calculate the steps*/
stepEl = deg2step(angleEl);
}
else if (buffer[0] == 'S' && buffer[1] == 'A')
/* Stop Moving */
else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
{
stepAz = AZstepper.currentPosition();
stepEl = ELstepper.currentPosition();
}
else if (buffer[0] == 'S' && buffer[1] == 'E')
{
stepEl = ELstepper.currentPosition();;
}
else if (buffer[0] == 'H' && buffer[1] == 'M')
/* Reset the rotator */
else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
{
/*Move the steppers to initial position*/
Homing(0,0);
/*Zero the steps*/
stepAz = 0;
stepEl = 0;
}
}
counter = 0;
/*Reset the disable motor time*/
t_DIS = 0;
@ -256,4 +274,4 @@ int deg2step(double deg)
double step2deg(int Step)
{
return(360*Step/(SPR*RATIO));
}
}