569 lines
15 KiB
Arduino
569 lines
15 KiB
Arduino
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#include "SoftI2CMaster.h"
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#include <Wire.h>
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//#include <avr/wdt.h>
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/* H-bridge defines */
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#define PWM1M1 5
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#define PWM2M1 6
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#define PWM1M2 9
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#define PWM2M2 10
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/* Limits for control signal */
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#define outMax 120
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#define outMin 35
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#define Deadband 1
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/* Encoder defines */
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#define sda_pin 16
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#define scl_pin 14
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#define as5601_adr 0x36
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#define raw_ang_high 0x0c
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#define raw_ang_low 0x0d
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#define status_reg 0x0b
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/* Ratio of worm gear */
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#define RATIO 30
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/* Maximum Angle for homing scanning */
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#define SEEK_MOVE 30
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#define MIN_AZ_ANGLE 0
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#define MAX_AZ_ANGLE 370
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#define MIN_EL_ANGLE 0
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#define MAX_EL_ANGLE 110
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/* Homing switch */
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#define HOME_AZ 4
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#define HOME_EL 7
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/* Change to LOW according to Home sensor */
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#define DEFAULT_HOME_STATE 1
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/* Time to disable the motors in millisecond */
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#define T_DELAY 1000
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/* PIN for Enable or Disable Stepper Motors */
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#define EN 8
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/* Serial configuration */
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#define BufferSize 256
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#define BaudRate 19200
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#define TX_EN A3
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/*Global Variables*/
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unsigned long t_DIS = 0; /*time to disable the Motors*/
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/* angle offset */
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double az_angle_offset = 0;
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double el_angle_offset = 0;
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/* Encoder */
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SoftI2CMaster i2c_soft = SoftI2CMaster(scl_pin, sda_pin, 1);
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void setup()
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{
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/* H-bridge */
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pinMode(OUTPUT, PWM1M1);
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pinMode(OUTPUT, PWM2M1);
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pinMode(OUTPUT, PWM1M2);
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pinMode(OUTPUT, PWM2M2);
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/* Encoder */
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i2c_soft.begin();
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Wire.begin();
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/* Enable Motors */
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pinMode(EN, OUTPUT);
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digitalWrite(EN, HIGH);
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/* Homing switch */
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pinMode(HOME_AZ, INPUT_PULLUP);
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pinMode(HOME_EL, INPUT_PULLUP);
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/* Serial Communication */
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Serial.begin(BaudRate);
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/* RS485 */
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//Serial1.begin(BaudRate);
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pinMode(TX_EN, OUTPUT);
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digitalWrite(TX_EN, LOW);
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/* WDT */
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//cli();
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//WDTCSR |= (1<<WDCE) | (1<<WDE);
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//WDTCSR = (0<<WDIE) | (1<<WDE) | (0<<WDP3) | (1<<WDP2) | (1<<WDP1) | (0<<WDP0);
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//sei();
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/* Initial Homing */
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//Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE, true);
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}
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void loop()
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{
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double *set_point;
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double curr_pos[2];
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/* Read commands from serial */
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set_point = cmd_proc();
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//set_point = cmd_proc_RS485();
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/* Move Motor */
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dc_move(set_point);
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/* Reset WDT */
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//wdt_reset();
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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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get_position(curr_pos);
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if (abs(curr_pos[0]-set_point[0]) < Deadband && abs(curr_pos[1]-set_point[1]) < Deadband && millis()-t_DIS > T_DELAY)
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digitalWrite(EN, LOW);
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/* Enable Motors */
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else
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digitalWrite(EN, HIGH);
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}
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///* EasyComm 2 Protocol for RS485 */
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//double * cmd_proc_RS485()
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//{
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// static double set_point[] = {0, 0};
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// /* Serial */
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// static char buffer[BufferSize];
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// char incomingByte;
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// char *Data = buffer;
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// char *rawData;
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// static int BufferCnt = 0;
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// char data[100];
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// double pos[2];
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//
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// /* Read from serial */
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// while (Serial1.available() > 0)
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// {
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// incomingByte = Serial1.read();
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// /* New data */
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// if (incomingByte == '\n')
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// {
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// buffer[BufferCnt] = 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(pos);
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// /* Get position */
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// digitalWrite(TX_EN, HIGH);
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// delay(8);
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// Serial1.print("AZ");
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// Serial1.print(pos[0], 1);
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// Serial1.print(" ");
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// Serial1.print("EL");
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// Serial1.println(pos[1], 1);
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// delay(8);
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// digitalWrite(TX_EN, LOW);
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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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// rawData = strtok_r(Data, " " , &Data);
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// strncpy(data, rawData + 2, 10);
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// if (isNumber(data))
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// {
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// set_point[0] = atof(data);
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// if (set_point[0] > MAX_AZ_ANGLE)
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// set_point[0] = MAX_AZ_ANGLE;
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// else if (set_point[0] < MIN_AZ_ANGLE)
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// set_point[0] = MIN_AZ_ANGLE;
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// }
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// /* Get the absolute value of angle */
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// rawData = strtok_r(Data, " " , &Data);
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// if (rawData[0] == 'E' && rawData[1] == 'L')
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// {
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// strncpy(data, rawData + 2, 10);
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// if (isNumber(data))
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// {
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// set_point[1] = atof(data);
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// if (set_point[1] > MAX_EL_ANGLE)
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// set_point[1] = MAX_EL_ANGLE;
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// else if (set_point[1] < MIN_EL_ANGLE)
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// set_point[1] = MIN_EL_ANGLE;
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// }
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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(pos);
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// /* Get position */
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// digitalWrite(TX_EN, HIGH);
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// delay(8);
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// Serial1.print("AZ");
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// Serial1.print(pos[0], 1);
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// Serial1.print(" ");
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// Serial1.print("EL");
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// Serial1.println(pos[1], 1);
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// delay(8);
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// digitalWrite(TX_EN, LOW);
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// set_point[0] = pos[0];
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// set_point[1] = pos[1];
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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(pos);
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// /* Get position */
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// digitalWrite(TX_EN, HIGH);
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// delay(8);
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// Serial1.print("AZ");
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// Serial1.print(pos[0], 1);
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// Serial1.print(" ");
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// Serial1.print("EL");
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// Serial1.println(pos[1], 1);
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// delay(8);
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// digitalWrite(TX_EN, LOW);
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// /* Move to initial position */
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// Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE, false);
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// set_point[0] = 0;
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// set_point[1] = 0;
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// }
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// /* Clear serial buffer */
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// BufferCnt = 0;
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// Serial1.read();
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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[BufferCnt] = incomingByte;
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// BufferCnt++;
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// }
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// }
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// return set_point;
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//}
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/* Homing Function */
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void Homing(double AZangle, double ELangle, bool Init)
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{
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int value_Home_AZ = DEFAULT_HOME_STATE;
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int value_Home_EL = DEFAULT_HOME_STATE;
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boolean isHome_AZ = false;
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boolean isHome_EL = false;
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double zero_angle[2];
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double curr_angle[2];
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double set_point[2];
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get_position(zero_angle);
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if (Init == true)
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{
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set_point[0] = zero_angle[0]+SEEK_MOVE;
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set_point[1] = zero_angle[1]+SEEK_MOVE;
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}
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else
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{
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set_point[0] = 10;//zero_angle[0]-MAX_AZ_ANGLE;
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set_point[1] = 10;//zero_angle[1]-MAX_EL_ANGLE;
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}
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while (isHome_AZ == false || isHome_EL == false)
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{
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dc_move(set_point);
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delay(1);
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value_Home_AZ = digitalRead(HOME_AZ);
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delay(1);
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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 == DEFAULT_HOME_STATE && isHome_AZ == false)
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{
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isHome_AZ = true;
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get_position(curr_angle);
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set_point[0] = 0;
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if (Init)
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az_angle_offset = curr_angle[0];
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}
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if (value_Home_EL == DEFAULT_HOME_STATE && isHome_EL == false)
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{
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isHome_EL = true;
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get_position(curr_angle);
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set_point[1] = 0;
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if (Init)
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el_angle_offset = curr_angle[1];
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}
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get_position(curr_angle);
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if (abs(curr_angle[0] - zero_angle[0]) >= SEEK_MOVE && !isHome_AZ && Init)
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set_point[0] = -MAX_AZ_ANGLE;
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if (abs(curr_angle[1] - zero_angle[1]) >= SEEK_MOVE && !isHome_EL && Init)
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set_point[1] = -MAX_EL_ANGLE;
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if ((abs(curr_angle[0] - zero_angle[0]) >= MAX_AZ_ANGLE && !isHome_AZ) || (abs(curr_angle[1] - zero_angle[1]) >= MAX_EL_ANGLE && !isHome_EL))
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{
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/* set error */
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while(1)
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{
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;
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}
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}
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}
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}
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void dc_move(double set_point[])
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{
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double u[2];
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double curr_pos[2];
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static double prev_pos[] = {0, 0};
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double error[2];
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double Iterm[2];
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double Pterm[2];
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double Dterm[2];
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double Kp = 200;
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double Ki = 2;
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double Kd = 0;
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double dt = 0.001; // calculate
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get_position(curr_pos);
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error[0] = set_point[0] - curr_pos[0];
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error[1] = set_point[1] - curr_pos[1];
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Pterm[0] = Kp * error[0];
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Pterm[1] = Kp * error[1];
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Iterm[0] += Ki * error[0] * dt;
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Iterm[1] += Ki * error[1] * dt;
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if (Iterm[0] > outMax) Iterm[0] = outMax;
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else if (Iterm[0] < outMin) Iterm[0] = outMin;
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if (Iterm[1] > outMax) Iterm[1] = outMax;
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else if (Iterm[1] < outMin) Iterm[1] = outMin;
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Dterm[0] = Kd * (curr_pos[0] - prev_pos[0]) / dt;
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prev_pos[0] = curr_pos[0];
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Dterm[1] = Kd * (curr_pos[1] - prev_pos[1]) / dt;
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prev_pos[1] = curr_pos[1];
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u[0] = Pterm[0] + Iterm[0] + Dterm[0];
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u[1] = Pterm[1] + Iterm[1] + Dterm[1];
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if (u[0] >= 0)
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{
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if (u[0] > outMax)
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u[0] = outMax;
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analogWrite(PWM1M1, u[0]);
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analogWrite(PWM2M1, 0);
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}
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else
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{
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u[0] = -u[0];
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if ( u[0] > outMax)
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u[0] = outMax;
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analogWrite(PWM1M1, 0);
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analogWrite(PWM2M1, u[0]);
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}
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if (u[1] >= 0)
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{
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if (u[1] > outMax)
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u[1] = outMax;
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analogWrite(PWM1M2, u[1]);
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analogWrite(PWM2M2, 0);
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}
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else
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{
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u[1] = -u[1];
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if ( u[1] > outMax)
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u[1] = outMax;
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analogWrite(PWM1M2, 0);
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analogWrite(PWM2M2, u[1]);
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}
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}
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/* Read Encoders */
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void get_position(double *new_pos)
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{
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int low_raw, high_raw, status_val;
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double raw_pos = 0;
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double delta_raw_pos = 0;
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static double raw_prev_pos[] = {0, 0};
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static double real_pos[] = {0, 0};
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static int n[] = {0, 0};
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/* Axis 1*/
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/* Read Raw Angle Low Byte */
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Wire.beginTransmission(as5601_adr);
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Wire.write(raw_ang_low);
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Wire.endTransmission();
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Wire.requestFrom(as5601_adr, 1);
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while(Wire.available() == 0);
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low_raw = Wire.read();
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/* Read Raw Angle High Byte */
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Wire.beginTransmission(as5601_adr);
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Wire.write(raw_ang_high);
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Wire.endTransmission();
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Wire.requestFrom(as5601_adr, 1);
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while(Wire.available() == 0);
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high_raw = Wire.read();
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high_raw = high_raw << 8;
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high_raw = high_raw | low_raw;
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/* Read Status Bits */
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Wire.beginTransmission(as5601_adr);
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Wire.write(status_reg);
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Wire.endTransmission();
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Wire.requestFrom(as5601_adr, 1);
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while(Wire.available() == 0);
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status_val = Wire.read();
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/* Check the status register */
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if ((status_val & 0x20) && !(status_val & 0x10) && !(status_val & 0x08))
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{
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if (high_raw >= 0)
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{
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raw_pos = (double)high_raw*0.0879;
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delta_raw_pos = raw_prev_pos[0] - raw_pos;
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if (delta_raw_pos > 180)
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n[0]++;
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else if (delta_raw_pos < -180)
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n[0]--;
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real_pos[0] = ((raw_pos + 360 * n[0]) / RATIO) - az_angle_offset;
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raw_prev_pos[0] = raw_pos;
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}
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else
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; /* set error */
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}
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else
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; /* set error */
|
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/* Axis 2 */
|
||
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/* Read Raw Angle Low Byte */
|
||
|
i2c_soft.beginTransmission(as5601_adr);
|
||
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i2c_soft.write(raw_ang_low);
|
||
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i2c_soft.endTransmission();
|
||
|
i2c_soft.requestFrom(as5601_adr);
|
||
|
low_raw = i2c_soft.readLast();
|
||
|
i2c_soft.endTransmission();
|
||
|
/* Read Raw Angle High Byte */
|
||
|
i2c_soft.beginTransmission(as5601_adr);
|
||
|
i2c_soft.write(raw_ang_high);
|
||
|
i2c_soft.endTransmission();
|
||
|
i2c_soft.requestFrom(as5601_adr);
|
||
|
high_raw = i2c_soft.readLast();
|
||
|
i2c_soft.endTransmission();
|
||
|
high_raw = high_raw << 8;
|
||
|
high_raw = high_raw | low_raw;
|
||
|
/* Read Status Bits */
|
||
|
i2c_soft.beginTransmission(as5601_adr);
|
||
|
i2c_soft.write(status_reg);
|
||
|
i2c_soft.endTransmission();
|
||
|
i2c_soft.requestFrom(as5601_adr);
|
||
|
status_val = i2c_soft.readLast();
|
||
|
i2c_soft.endTransmission();
|
||
|
/* Check the status register */
|
||
|
if ((status_val & 0x20) && !(status_val & 0x10) && !(status_val & 0x08))
|
||
|
{
|
||
|
if (high_raw >= 0)
|
||
|
{
|
||
|
raw_pos = (double)high_raw*0.0879;
|
||
|
delta_raw_pos = raw_prev_pos[1] - raw_pos;
|
||
|
if (delta_raw_pos > 180)
|
||
|
n[1]++;
|
||
|
else if (delta_raw_pos < -180)
|
||
|
n[1]--;
|
||
|
real_pos[1] = ((raw_pos + 360 * n[1]) / RATIO) - el_angle_offset;
|
||
|
raw_prev_pos[1] = raw_pos;
|
||
|
}
|
||
|
else
|
||
|
; /* set error */
|
||
|
}
|
||
|
else
|
||
|
; /* set error */
|
||
|
|
||
|
new_pos[0] = real_pos[0];
|
||
|
new_pos[1] = real_pos[1];
|
||
|
}
|
||
|
|
||
|
/* EasyComm 2 Protocol */
|
||
|
double * cmd_proc()
|
||
|
{
|
||
|
static double set_point[] = {0, 0};
|
||
|
/* Serial */
|
||
|
char buffer[BufferSize];
|
||
|
char incomingByte;
|
||
|
char *Data = buffer;
|
||
|
char *rawData;
|
||
|
static int BufferCnt = 0;
|
||
|
char data[100];
|
||
|
double pos[2];
|
||
|
|
||
|
/* Read from serial */
|
||
|
while (Serial.available() > 0)
|
||
|
{
|
||
|
incomingByte = Serial.read();
|
||
|
/* New data */
|
||
|
if (incomingByte == '\n')
|
||
|
{
|
||
|
buffer[BufferCnt] = 0;
|
||
|
if (buffer[0] == 'A' && buffer[1] == 'Z')
|
||
|
{
|
||
|
if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
|
||
|
{
|
||
|
get_position(pos);
|
||
|
/* Get position */
|
||
|
Serial.print("AZ");
|
||
|
Serial.print(pos[0], 1);
|
||
|
Serial.print(" ");
|
||
|
Serial.print("EL");
|
||
|
Serial.println(pos[1], 1);
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
/* Get the absolute value of angle */
|
||
|
rawData = strtok_r(Data, " " , &Data);
|
||
|
strncpy(data, rawData + 2, 10);
|
||
|
if (isNumber(data))
|
||
|
{
|
||
|
set_point[0] = atof(data);
|
||
|
if (set_point[0] > MAX_AZ_ANGLE)
|
||
|
set_point[0] = MAX_AZ_ANGLE;
|
||
|
else if (set_point[0] < MIN_AZ_ANGLE)
|
||
|
set_point[0] = MIN_AZ_ANGLE;
|
||
|
}
|
||
|
/* Get the absolute value of angle */
|
||
|
rawData = strtok_r(Data, " " , &Data);
|
||
|
if (rawData[0] == 'E' && rawData[1] == 'L')
|
||
|
{
|
||
|
strncpy(data, rawData + 2, 10);
|
||
|
if (isNumber(data))
|
||
|
{
|
||
|
set_point[1] = atof(data);
|
||
|
if (set_point[1] > MAX_EL_ANGLE)
|
||
|
set_point[1] = MAX_EL_ANGLE;
|
||
|
else if (set_point[1] < MIN_EL_ANGLE)
|
||
|
set_point[1] = MIN_EL_ANGLE;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
/* Stop Moving */
|
||
|
else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
|
||
|
{
|
||
|
get_position(pos);
|
||
|
/* Get position */
|
||
|
Serial.print("AZ");
|
||
|
Serial.print(pos[0], 1);
|
||
|
Serial.print(" ");
|
||
|
Serial.print("EL");
|
||
|
Serial.println(pos[1], 1);
|
||
|
set_point[0] = pos[0];
|
||
|
set_point[1] = pos[1];
|
||
|
}
|
||
|
/* Reset the rotator */
|
||
|
else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
|
||
|
{
|
||
|
get_position(pos);
|
||
|
/* Get position */
|
||
|
Serial.print("AZ");
|
||
|
Serial.print(pos[0], 1);
|
||
|
Serial.print(" ");
|
||
|
Serial.print("EL");
|
||
|
Serial.println(pos[1], 1);
|
||
|
/* Move to initial position */
|
||
|
Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE, false);
|
||
|
set_point[0] = 0;
|
||
|
set_point[1] = 0;
|
||
|
}
|
||
|
BufferCnt = 0;
|
||
|
/* Reset the disable motor time */
|
||
|
t_DIS = 0;
|
||
|
}
|
||
|
/* Fill the buffer with incoming data */
|
||
|
else {
|
||
|
buffer[BufferCnt] = incomingByte;
|
||
|
BufferCnt++;
|
||
|
}
|
||
|
}
|
||
|
return set_point;
|
||
|
}
|
||
|
|
||
|
/* check if is argument in number */
|
||
|
boolean isNumber(char *input)
|
||
|
{
|
||
|
for (int i = 0; input[i] != '\0'; i++)
|
||
|
{
|
||
|
if (isalpha(input[i]))
|
||
|
return false;
|
||
|
}
|
||
|
return true;
|
||
|
}
|
||
|
|