304 lines
7.6 KiB
C++
304 lines
7.6 KiB
C++
#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include <AccelStepper.h>
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#define DIR_AZ 18 //PIN for Azimuth Direction
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#define STEP_AZ 10 //PIN for Azimuth Steps
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#define DIR_EL 6 //PIN for Elevation Direction
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#define STEP_EL 7 //PIN for Elevation Steps
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#define MS1 9 //PIN for step size
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#define EN 8 //PIN for Enable or Disable Stepper Motors
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#define SPR 200 //Step Per Revolution
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#define RATIO 60 //Gear ratio
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#define T_DELAY 60000 //Time to disable the motors in millisecond
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#define HOME_AZ 4 //Homing switch for Azimuth
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#define HOME_EL 5 //Homing switch for Elevation
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/*The MAX_ANGLE depends of ANGLE_SCANNING_MULT and maybe misbehave for large values*/
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#define ANGLE_SCANNING_MULT 180 //Angle scanning multiplier
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#define MAX_AZ_ANGLE 360 //Maximum Angle of Azimuth for homing scanning
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#define MAX_EL_ANGLE 360 //Maximum Angle of Elevation for homing scanning
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#define HOME_DELAY 6000 //Time for homing Decceleration in millisecond
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/*Global Variables*/
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unsigned long t_DIS = 0; //time to disable the Motors
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/*Define a stepper and the pins it will use*/
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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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AZstepper.setMaxSpeed(150);
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AZstepper.setAcceleration(50);
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/*Change these to suit your stepper if you want*/
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ELstepper.setMaxSpeed(150);
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ELstepper.setAcceleration(50);
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/*Enable Motors*/
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pinMode(EN, OUTPUT);
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digitalWrite(EN, LOW);
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/*Step size*/
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pinMode(MS1, OUTPUT);
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digitalWrite(MS1, LOW); //Full step
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/*Homing switch*/
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pinMode(HOME_AZ, INPUT);
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pinMode(HOME_EL, INPUT);
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/*Serial Communication*/
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Serial.begin(19200);
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/*Initial Homing*/
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Homing(deg2step(-ANGLE_SCANNING_MULT), deg2step(-ANGLE_SCANNING_MULT));
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}
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void loop()
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{
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/*Define the steps*/
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static int AZstep = 0;
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static int ELstep = 0;
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/*Time Check*/
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if (t_DIS == 0)
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t_DIS = millis();
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/*Disable Motors*/
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if (AZstep == AZstepper.currentPosition() && ELstep == ELstepper.currentPosition() && millis()-t_DIS > T_DELAY)
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{
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digitalWrite(EN, HIGH);
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}
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/*Enable Motors*/
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else
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digitalWrite(EN, LOW);
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/*Read the steps from serial*/
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cmd_proc(AZstep, ELstep);
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/*Move the Azimuth & Elevation Motor*/
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stepper_move(AZstep, ELstep);
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}
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/*Homing Function*/
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void Homing(int AZsteps, int ELsteps)
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{
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int value_Home_AZ = HIGH;
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int value_Home_EL = HIGH;
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int n_AZ = 1; //Times that AZ angle has changed
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int n_EL = 1; //Times that EL angle has changed
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boolean isHome_AZ = false;
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boolean isHome_EL = false;
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AZstepper.moveTo(AZsteps);
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ELstepper.moveTo(ELsteps);
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while(isHome_AZ == false || isHome_EL == false)
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{
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value_Home_AZ = digitalRead(HOME_AZ);
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value_Home_EL = digitalRead(HOME_EL);
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/* Change to LOW according to Home sensor */
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if (value_Home_AZ == HIGH)
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{
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AZstepper.moveTo(AZstepper.currentPosition());
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isHome_AZ = true;
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}
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/* Change to LOW according to Home sensor */
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if (value_Home_EL == HIGH)
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{
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ELstepper.moveTo(ELstepper.currentPosition());
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isHome_EL = true;
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}
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if (AZstepper.distanceToGo() == 0 && !isHome_AZ)
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{
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n_AZ++;
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AZsteps = deg2step(pow(-1,n_AZ)*n_AZ*ANGLE_SCANNING_MULT);
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if (abs(n_AZ*ANGLE_SCANNING_MULT) > MAX_AZ_ANGLE)
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{
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error(0);
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break;
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}
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AZstepper.moveTo(AZsteps);
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}
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if (ELstepper.distanceToGo() == 0 && !isHome_EL)
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{
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n_EL++;
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ELsteps = deg2step(pow(-1,n_EL)*n_EL*ANGLE_SCANNING_MULT);
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if (abs(n_EL*ANGLE_SCANNING_MULT) > MAX_EL_ANGLE)
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{
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error(1);
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break;
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}
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ELstepper.moveTo(ELsteps);
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}
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AZstepper.run();
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ELstepper.run();
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}
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/*Delay to Deccelerate*/
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long time = millis();
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while(millis() - time < HOME_DELAY)
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{
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AZstepper.run();
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ELstepper.run();
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}
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/*Reset the steps*/
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AZstepper.setCurrentPosition(0);
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ELstepper.setCurrentPosition(0);
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}
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/*EasyComm 2 Protocol & Calculate the steps*/
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void cmd_proc(int &stepAz, int &stepEl)
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{
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/*Serial*/
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char buffer[256];
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char incomingByte;
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char *p=buffer;
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char *str;
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static 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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incomingByte = Serial.read();
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/* XXX: Get position using custom and test code */
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if (incomingByte == '!')
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{
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/* Get position */
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Serial.print("TM");
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Serial.print(1);
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Serial.print(" ");
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Serial.print("AZ");
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Serial.print(10*step2deg(AZstepper.currentPosition()), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(10*step2deg(ELstepper.currentPosition()), 1);
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}
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/*new data*/
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else 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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if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
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{
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/* Get position */
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Serial.print("AZ");
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Serial.print(step2deg(AZstepper.currentPosition()), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.print(step2deg(ELstepper.currentPosition()), 1);
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Serial.println(" ");
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}
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else
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{
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/*Get the absolute value of angle*/
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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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/*Get the absolute value of angle*/
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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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}
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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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/* Get position */
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Serial.print("AZ");
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Serial.print(step2deg(AZstepper.currentPosition()), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(step2deg(ELstepper.currentPosition()), 1);
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stepAz = AZstepper.currentPosition();
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stepEl = ELstepper.currentPosition();
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}
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/* Reset the rotator */
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else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
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{
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/* Get position */
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Serial.print("AZ");
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Serial.print(step2deg(AZstepper.currentPosition()), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(step2deg(ELstepper.currentPosition()), 1);
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/*Move the steppers to initial position*/
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Homing(0,0);
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/*Zero the steps*/
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stepAz = 0;
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stepEl = 0;
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}
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counter = 0;
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/*Reset the disable motor time*/
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t_DIS = 0;
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}
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/*Fill the buffer with incoming data*/
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else {
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buffer[counter] = incomingByte;
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counter++;
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}
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}
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}
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/*Error Handling*/
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void error(int num_error)
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{
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switch (num_error)
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{
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/*Azimuth error*/
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case (0):
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while(1)
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{
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Serial.println("AL001");
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delay(100);
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}
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/*Elevation error*/
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case (1):
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while(1)
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{
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Serial.println("AL002");
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delay(100);
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}
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default:
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while(1)
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{
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Serial.println("AL000");
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delay(100);
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}
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}
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}
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/*Send pulses to stepper motor drivers*/
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void stepper_move(int stepAz, int stepEl)
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{
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AZstepper.moveTo(stepAz);
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ELstepper.moveTo(stepEl);
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AZstepper.run();
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ELstepper.run();
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}
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/*Convert degrees to steps*/
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int deg2step(double deg)
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{
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return(RATIO*SPR*deg/360);
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}
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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(360.00*Step/(SPR*RATIO));
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}
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