From a2ed1c15f22934861b80026e342f4071ab6eef25 Mon Sep 17 00:00:00 2001
From: zisi <agzisim@gmail.com>
Date: Mon, 27 Aug 2018 16:03:09 +0300
Subject: [PATCH] Add html doxy files

Signed-off-by: zisi <agzisim@gmail.com>
---
 .gitignore                                    |    1 -
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 .../html/AccelStepper_8cpp_8d_source.html     |   80 +
 doxygen_files/html/CDC_8cpp_8d.html           |   82 +
 doxygen_files/html/CDC_8cpp_8d_source.html    |   80 +
 doxygen_files/html/CONTRIBUTING_8md.html      |   78 +
 .../html/CONTRIBUTING_8md_source.html         |   76 +
 .../html/HardwareSerial0_8cpp_8d.html         |   82 +
 .../html/HardwareSerial0_8cpp_8d_source.html  |   80 +
 .../html/HardwareSerial1_8cpp_8d.html         |   82 +
 .../html/HardwareSerial1_8cpp_8d_source.html  |   80 +
 .../html/HardwareSerial2_8cpp_8d.html         |   82 +
 .../html/HardwareSerial2_8cpp_8d_source.html  |   80 +
 .../html/HardwareSerial3_8cpp_8d.html         |   82 +
 .../html/HardwareSerial3_8cpp_8d_source.html  |   80 +
 .../html/HardwareSerial_8cpp_8d.html          |   82 +
 .../html/HardwareSerial_8cpp_8d_source.html   |   80 +
 doxygen_files/html/IPAddress_8cpp_8d.html     |   82 +
 .../html/IPAddress_8cpp_8d_source.html        |   80 +
 doxygen_files/html/PID__v1_8cpp_8d.html       |   82 +
 .../html/PID__v1_8cpp_8d_source.html          |   80 +
 doxygen_files/html/PluggableUSB_8cpp_8d.html  |   82 +
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 doxygen_files/html/Print_8cpp_8d.html         |   82 +
 doxygen_files/html/Print_8cpp_8d_source.html  |   80 +
 doxygen_files/html/README_8md.html            |   78 +
 doxygen_files/html/README_8md_source.html     |   76 +
 doxygen_files/html/Stream_8cpp_8d.html        |   82 +
 doxygen_files/html/Stream_8cpp_8d_source.html |   80 +
 doxygen_files/html/Tone_8cpp_8d.html          |   82 +
 doxygen_files/html/Tone_8cpp_8d_source.html   |   80 +
 doxygen_files/html/USBCore_8cpp_8d.html       |   82 +
 .../html/USBCore_8cpp_8d_source.html          |   80 +
 doxygen_files/html/WInterrupts_8c_8d.html     |   82 +
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 doxygen_files/html/WMath_8cpp_8d.html         |   82 +
 doxygen_files/html/WMath_8cpp_8d_source.html  |   80 +
 doxygen_files/html/WString_8cpp_8d.html       |   82 +
 .../html/WString_8cpp_8d_source.html          |   80 +
 doxygen_files/html/Wire_8cpp_8d.html          |   82 +
 doxygen_files/html/Wire_8cpp_8d_source.html   |   80 +
 doxygen_files/html/abi_8cpp_8d.html           |   82 +
 doxygen_files/html/abi_8cpp_8d_source.html    |   80 +
 doxygen_files/html/annotated.html             |   90 +
 doxygen_files/html/as5601_8h.html             |  309 ++++
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 doxygen_files/html/as5601_8h__dep__incl.md5   |    1 +
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 doxygen_files/html/as5601_8h_source.html      |  102 ++
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 doxygen_files/html/classAS5601-members.html   |   93 +
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 doxygen_files/html/classeasycomm-members.html |   82 +
 doxygen_files/html/classeasycomm.html         |  224 +++
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 doxygen_files/html/classendstop-members.html  |   84 +
 doxygen_files/html/classendstop.html          |  280 +++
 doxygen_files/html/classes.html               |   96 +
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 doxygen_files/html/classi2c__mux.html         |  321 ++++
 doxygen_files/html/classmotor-members.html    |   97 +
 doxygen_files/html/classmotor.html            |  791 ++++++++
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 doxygen_files/html/classrs485-members.html    |   88 +
 doxygen_files/html/classrs485.html            |  430 +++++
 doxygen_files/html/classtc74-members.html     |   86 +
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 .../html/classwdt__timer-members.html         |   81 +
 doxygen_files/html/classwdt__timer.html       |  164 ++
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 ...ler_2build-satnogs_2core_2CDC_8cpp_8d.html |   82 +
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 .../html/dc__motor__controller_8ino.html      |  900 ++++++++++
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 .../dc__motor__controller_8ino_8d_source.html |   86 +
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 .../dc__motor__controller_8ino_source.html    |  171 ++
 doxygen_files/html/dir_000000_000001.html     |   76 +
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 doxygen_files/html/dir_000002_000001.html     |   76 +
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 .../dir_4fd4009f6f22f863217bbc9f2b8a638b.html |  134 ++
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 .../dir_7af253dfca86f7c40f8239e67accd169.html |   91 +
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 .../dir_bc0718b08fb2015b8e59c47b2805f60c.html |  104 ++
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 .../dir_e9cb1e840313e16da47b61b12eadef1d.html |   86 +
 .../dir_ef2cc0c7252f5b7b7f405f3ca6708486.html |  102 ++
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 doxygen_files/html/doc.png                    |  Bin 0 -> 746 bytes
 doxygen_files/html/doxygen.css                | 1596 +++++++++++++++++
 doxygen_files/html/doxygen.png                |  Bin 0 -> 3779 bytes
 doxygen_files/html/dynsections.js             |  127 ++
 doxygen_files/html/easycomm_8h.html           |  229 +++
 doxygen_files/html/easycomm_8h__dep__incl.map |    5 +
 doxygen_files/html/easycomm_8h__dep__incl.md5 |    1 +
 doxygen_files/html/easycomm_8h__dep__incl.png |  Bin 0 -> 14621 bytes
 doxygen_files/html/easycomm_8h__incl.map      |    5 +
 doxygen_files/html/easycomm_8h__incl.md5      |    1 +
 doxygen_files/html/easycomm_8h__incl.png      |  Bin 0 -> 18733 bytes
 doxygen_files/html/easycomm_8h_source.html    |  120 ++
 doxygen_files/html/endstop_8h.html            |  105 ++
 doxygen_files/html/endstop_8h__dep__incl.map  |    4 +
 doxygen_files/html/endstop_8h__dep__incl.md5  |    1 +
 doxygen_files/html/endstop_8h__dep__incl.png  |  Bin 0 -> 6677 bytes
 doxygen_files/html/endstop_8h_source.html     |   86 +
 doxygen_files/html/files.html                 |  132 ++
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 doxygen_files/html/functions.html             |  393 ++++
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 doxygen_files/html/functions_vars.html        |  234 +++
 doxygen_files/html/globals.html               |  449 +++++
 doxygen_files/html/globals_8h.html            |  277 +++
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 doxygen_files/html/globals_8h__incl.map       |    2 +
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 doxygen_files/html/globals_8h__incl.png       |  Bin 0 -> 3056 bytes
 doxygen_files/html/globals_8h_source.html     |  121 ++
 doxygen_files/html/globals_defs.html          |  309 ++++
 doxygen_files/html/globals_enum.html          |   83 +
 doxygen_files/html/globals_eval.html          |  110 ++
 doxygen_files/html/globals_func.html          |  104 ++
 doxygen_files/html/globals_vars.html          |  123 ++
 doxygen_files/html/graph_legend.html          |  105 ++
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 doxygen_files/html/hooks_8c_8d.html           |   82 +
 doxygen_files/html/hooks_8c_8d_source.html    |   80 +
 doxygen_files/html/i2c__mux_8h.html           |  135 ++
 doxygen_files/html/i2c__mux_8h__dep__incl.map |    3 +
 doxygen_files/html/i2c__mux_8h__dep__incl.md5 |    1 +
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 doxygen_files/html/i2c__mux_8h_source.html    |   88 +
 doxygen_files/html/index.html                 |  218 +++
 doxygen_files/html/jquery.js                  |  115 ++
 doxygen_files/html/main_8cpp_8d.html          |   82 +
 doxygen_files/html/main_8cpp_8d_source.html   |   80 +
 doxygen_files/html/md_CONTRIBUTING.html       |   78 +
 doxygen_files/html/md_README.html             |  214 +++
 doxygen_files/html/menu.js                    |   50 +
 doxygen_files/html/menudata.js                |  113 ++
 doxygen_files/html/motor_8h.html              |  104 ++
 doxygen_files/html/motor_8h__dep__incl.map    |    3 +
 doxygen_files/html/motor_8h__dep__incl.md5    |    1 +
 doxygen_files/html/motor_8h__dep__incl.png    |  Bin 0 -> 4031 bytes
 doxygen_files/html/motor_8h_source.html       |  100 ++
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 doxygen_files/html/nav_h.png                  |  Bin 0 -> 98 bytes
 doxygen_files/html/new_8cpp_8d.html           |   82 +
 doxygen_files/html/new_8cpp_8d_source.html    |   80 +
 doxygen_files/html/open.png                   |  Bin 0 -> 123 bytes
 doxygen_files/html/pages.html                 |   82 +
 doxygen_files/html/rotator__pins_8h.html      |  485 +++++
 .../html/rotator__pins_8h__dep__incl.map      |    6 +
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 .../html/rotator__pins_8h_source.html         |   80 +
 doxygen_files/html/rs485_8h.html              |  107 ++
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+<a href="README_8md.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;# SatNOGS Rotator Firmware</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;Firmware [SatNOGS Rotator Controller](https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware).</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;Repository includes all source files for the SatNOGS rotator controller Firmware.</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;Electronics can be found on [satnogs-rotator-controller](https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller)</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;## Instructions</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;In order to use this code, you need to install</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; * [AccelStepper library](http://www.airspayce.com/mikem/arduino/AccelStepper/index.html)</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; * [PID_v1 library](https://github.com/br3ttb/Arduino-PID-Library)</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; * Wire library</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;You need to choose the version of the Firmware you will be utilizing based on your controller and rotator setup. Namely we have two different versions (one for DC motors and one for Stepper motors).</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;##### Steps</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;* Download arduino IDE (tested with 1.8.5)</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;* Add these lines in /arduino-1.8.5/hardware/arduino/avr/boards.txt</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;```</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;##############################################################</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;satnogs.name=SatNOGS</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;satnogs.upload.tool=avrdude</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;satnogs.upload.protocol=buspirate</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;satnogs.upload.maximum_size=32256</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;satnogs.upload.maximum_data_size=2048</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;satnogs.upload.speed=115200</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;satnogs.bootloader.tool=avrdude</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;satnogs.bootloader.low_fuses=0xFF</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;satnogs.bootloader.high_fuses=0xDE</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;satnogs.bootloader.extended_fuses=0xFD</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;satnogs.bootloader.unlock_bits=0x3F</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;satnogs.bootloader.lock_bits=0x0F</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;satnogs.bootloader.file=optiboot/optiboot_atmega328.hex</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;satnogs.build.mcu=atmega328p</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;satnogs.build.f_cpu=16000000L</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;satnogs.build.board=AVR_SATNOGS</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;satnogs.build.core=arduino</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;satnogs.build.variant=eightanaloginputs</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;##############################################################</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;```</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;* Install [Arduino-Makefile](https://github.com/sudar/Arduino-Makefile)</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;```</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;ARDUINO_DIR – Directory where Arduino is installed</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;ARDMK_DIR – Directory where you have copied the makefile</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;AVR_TOOLS_DIR – Directory where avr tools are installed</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;USER_LIB_PATH – Directory where arduino libraries are installed</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;AVRDUDE – Directory where avrdude are installed</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;AVRDUDE_ARD_BAUDRATE – Serial Baudrate (uncomment to use 57600 for FTDI)</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;include – Directory where Arduino.mk are installed</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;```</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;* Build the code</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;```</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;make</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;```</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;* Upload using ISP</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    * Connect [arduino](https://www.arduino.cc/en/Tutorial/ArduinoISP) or buspirate for ISP programming</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        1. Pin 13 (SCK) to Pin 13 of arduino pro mini, ISP connector</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        2. Pin 12 (MISO) to Pin 12 of arduino pro mini, ISP connector</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        3. Pin 11 (MOSI) to Pin 11 of arduino pro mini, ISP connector</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        4. Pin 10 (RESET) to Pin RST of arduino pro mini, ISP connector</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        5. 5+ (Vcc) to Pin VCC of arduino pro mini, ISP connector</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        6. Gnd (Gnd) to Pin GND of arduino pro mini, ISP connector</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;* BusPirate</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;```</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;satnogs.upload.protocol=buspirate (in board.txt)</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;ISP_PROG = buspirate (in Makefile)</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;```</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;```</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;make ispload</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;```</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;* [Arduino](https://www.arduino.cc/en/Tutorial/ArduinoISP)</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;```</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;satnogs.upload.protocol=arduino (in board.txt)</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;ISP_PROG = arduino (in Makefile)</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;```</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;```</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;make ispload</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;```</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;* Upload using FDTI, but is necessary to uninstall arduino pro-mini from board</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;Connect [FTDI](https://learn.sparkfun.com/tutorials/using-the-arduino-pro-mini-33v)</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;```</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;satnogs.upload.protocol=arduino (in board.txt)</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;```</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;```</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;make upload</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;```</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;* Burn optiboot</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;Only with ISP programming</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    * Arduino as ISP</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    * BusPirate as ISP</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;```</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;make burn_bootloader</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;```</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;## Easycomm implemantation</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;* AZ, Azimuth, number - 1 decimal place [deg]</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;* EL, Elevation, number - 1 decimal place [deg]</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;* SA, Stop azimuth moving</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;* SE, Stop elevation moving</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;* RESET, Move to home position</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;* PARK, Move to park position</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;* IP, Read an input, number</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    * Temperature = 0</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    * SW1 = 1</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    * SW2 = 2</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    * Encoder1 = 3</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    * Encoder2 = 4</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    * Load of M1/AZ = 5</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    * Load of M2/EL = 6</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    * Speed of M1/AZ (DPS) = 7</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    * Speed of M2/EL (DPS) = 8</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;* VE, Request Version</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;* GS, Get status register, number</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    * idle = 1</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    * moving = 2</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    * pointing = 4</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    * error = 8</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;* GE, Get error register, number</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    * no_error = 1</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    * sensor_error = 2</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    * homing_error = 4</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    * motor_error = 8</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    * over_temperature = 12</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    * wdt_error = 16</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;* VL, Velocity Left ,number [mdeg/s]</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;* VR, Velocity Right, number [mdeg/s]</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;* VU, Velocity Up, number [mdeg/s]</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;* VD, Velocity Down, number [mdeg/s]</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;* CR, Read config, register [0-x]</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    * Gain P for M1/AZ = 1</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    * Gain I for M1/AZ = 2</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    * Gain D for M1/AZ = 3</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    * Gain P for M2/EL = 4</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    * Gain I for M2/EL = 5</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    * Gain D for M2/EL = 6</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    * Azimuth park position = 7</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    * Elevation park position = 8</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    * Control mode (position = 0, speed = 1) = 9</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;* CW, Write config, register [0-x]</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    * Gain P for M1/AZ = 1</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    * Gain I for M1/AZ = 2</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    * Gain D for M1/AZ = 3</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    * Gain P for M2/EL = 4</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    * Gain I for M2/EL = 5</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    * Gain D for M2/EL = 6</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    * Azimuth park position = 7</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    * Elevation park position = 8</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    * This reg is set from Vx commands control mode (position = 0, speed = 1) = 9</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;* RB, custom command to reboot controller</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;## Controller Configurations</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;* Stepper Motor</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    * Endstops</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    * Encoders, optional</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    * UART or R485 (For both options the firmware is the same)</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;* DC Motor</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    * Endstops</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    * Encoders</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    * UART or RS485 (For both options the firmware is the same)</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;## Pins Configuration</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;```</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;M1IN1 10, Step or PWM1</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;M1IN2 9, Direction or PWM2</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;M1SF  7, Status flag</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;M1FB  A1, Load measurment</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;M2IN1 11, Step or PWM1</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;M2IN2 3, Direction or PWM2</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;M2SF  6, Status flag</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;M2FB  A0, Load measurment</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;MOTOR_EN 8, Enable/Disable motors</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;SW1 5, Endstop for axis 1</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;SW2 4, Endstop for axis 2</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;RS485_DIR 2, RS485 Half Duplex direction pin</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;SDA_PIN 3, Data I2C pin</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;SCL_PIN 4, Clock I2C pin</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;PIN12 12, Digital output pin</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;PIN13 13, Digital output pin</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;A2    A2, Analog input pin</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;A3    A3, Analog input pin</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;```</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;## Testing with hamlib - rotctl or with Serial Monitor</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;Connect the PC with contreller via UART to USB or RS485 to USB by using the right converter (as described in [rotator controller BOM](https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller/blob/master/satnogs-rotator-controller-bom.ods)).</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;For both options must be soldered the suitable components as descrided in [rotator controller wiki page](https://wiki.satnogs.org/SatNOGS_Rotator_Controller).</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;Use commands of rotctl:</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;```</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;rotctl -m 204 -s 19200 -r /dev/ttyUSB1 -vvvvv</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;```</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;Replace the /dev/ttyUSB1 with the device which is connected to PC.</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;Use commands of easycomm 3:</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;Send directly commands of easycomm 3 as described in Easycomm implemantation section.</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;## Contribute</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;The main repository lives on [Gitlab](https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware) and all Merge Request should happen there.</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;## License</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;[![Libre Space Foundation](https://img.shields.io/badge/%C2%A9%202014--2018-Libre%20Space%20Foundation-6672D8.svg)](https://librespacefoundation.org/)</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;Licensed under the [GPLv3](LICENSE)</div></div><!-- fragment --></div><!-- contents -->
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
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+</div>
+</div>
+<p><a href="as5601_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html">AS5601</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
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+<tr class="memitem:a0f32fbf0619653f8582cfbb9b5022868"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a0f32fbf0619653f8582cfbb9b5022868">RAW_ANG_HIGH</a>&#160;&#160;&#160;0x0C</td></tr>
+<tr class="separator:a0f32fbf0619653f8582cfbb9b5022868"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a60e1d311be398853144f59e1d2a37be1"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a60e1d311be398853144f59e1d2a37be1">RAW_ANG_LOW</a>&#160;&#160;&#160;0x0D</td></tr>
+<tr class="separator:a60e1d311be398853144f59e1d2a37be1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f7e79cfe81dc06414550fa52418941e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a1f7e79cfe81dc06414550fa52418941e">STATUS_REG</a>&#160;&#160;&#160;0x0B</td></tr>
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+<tr class="memitem:a6b14c0a97e1a526bf898cd24de183afb"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a6b14c0a97e1a526bf898cd24de183afb">AGC</a>&#160;&#160;&#160;0x1A</td></tr>
+<tr class="separator:a6b14c0a97e1a526bf898cd24de183afb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a44cb76675b777aed3142556943702c80"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a44cb76675b777aed3142556943702c80">MAGNITUDE_HIGH</a>&#160;&#160;&#160;0x1B</td></tr>
+<tr class="separator:a44cb76675b777aed3142556943702c80"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a27977fa09cf94bdf6e6f0f3d78d29c2e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a27977fa09cf94bdf6e6f0f3d78d29c2e">MAGNITUDE_LOW</a>&#160;&#160;&#160;0x1C</td></tr>
+<tr class="separator:a27977fa09cf94bdf6e6f0f3d78d29c2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a50a238669bcc55ea8d1e6cdc48cf0193"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a7b8dcb28f171791bc1d12c6fd88a7f"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="as5601_8h.html#a5a7b8dcb28f171791bc1d12c6fd88a7f">CONF_LOW</a>&#160;&#160;&#160;0x08</td></tr>
+<tr class="separator:a5a7b8dcb28f171791bc1d12c6fd88a7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a> a magnetic rotary position sensor. It uses I2C protocol. The resolution of encoder is 12-bit.</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a6b14c0a97e1a526bf898cd24de183afb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b14c0a97e1a526bf898cd24de183afb">&#9670;&nbsp;</a></span>AGC</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define AGC&#160;&#160;&#160;0x1A</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00023">23</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00096">AS5601::get_agc()</a>.</p>
+
+</div>
+</div>
+<a id="a25c5389b80876b6074ce88c6572b2296"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25c5389b80876b6074ce88c6572b2296">&#9670;&nbsp;</a></span>AS5601_ID</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define AS5601_ID&#160;&#160;&#160;0x36</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00019">19</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00096">AS5601::get_agc()</a>, <a class="el" href="as5601_8h_source.html#l00116">AS5601::get_conf()</a>, <a class="el" href="as5601_8h_source.html#l00106">AS5601::get_magnitude()</a>, and <a class="el" href="as5601_8h_source.html#l00059">AS5601::get_pos()</a>.</p>
+
+</div>
+</div>
+<a id="a50a238669bcc55ea8d1e6cdc48cf0193"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50a238669bcc55ea8d1e6cdc48cf0193">&#9670;&nbsp;</a></span>CONF_HIGH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CONF_HIGH&#160;&#160;&#160;0x07</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00026">26</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00116">AS5601::get_conf()</a>.</p>
+
+</div>
+</div>
+<a id="a5a7b8dcb28f171791bc1d12c6fd88a7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a7b8dcb28f171791bc1d12c6fd88a7f">&#9670;&nbsp;</a></span>CONF_LOW</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CONF_LOW&#160;&#160;&#160;0x08</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00027">27</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+</div>
+</div>
+<a id="a8b7500a141450a9df212017430c0df9e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b7500a141450a9df212017430c0df9e">&#9670;&nbsp;</a></span>I2C_FREQ</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define I2C_FREQ&#160;&#160;&#160;100000</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00017">17</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00043">AS5601::Begin()</a>, and <a class="el" href="tc74_8h_source.html#l00048">tc74::init()</a>.</p>
+
+</div>
+</div>
+<a id="a44cb76675b777aed3142556943702c80"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a44cb76675b777aed3142556943702c80">&#9670;&nbsp;</a></span>MAGNITUDE_HIGH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAGNITUDE_HIGH&#160;&#160;&#160;0x1B</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00024">24</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00106">AS5601::get_magnitude()</a>.</p>
+
+</div>
+</div>
+<a id="a27977fa09cf94bdf6e6f0f3d78d29c2e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27977fa09cf94bdf6e6f0f3d78d29c2e">&#9670;&nbsp;</a></span>MAGNITUDE_LOW</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAGNITUDE_LOW&#160;&#160;&#160;0x1C</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00025">25</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0f32fbf0619653f8582cfbb9b5022868">&#9670;&nbsp;</a></span>RAW_ANG_HIGH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define RAW_ANG_HIGH&#160;&#160;&#160;0x0C</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00020">20</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">AS5601::get_pos()</a>.</p>
+
+</div>
+</div>
+<a id="a60e1d311be398853144f59e1d2a37be1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60e1d311be398853144f59e1d2a37be1">&#9670;&nbsp;</a></span>RAW_ANG_LOW</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define RAW_ANG_LOW&#160;&#160;&#160;0x0D</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00021">21</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
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+<h2 class="memtitle"><span class="permalink"><a href="#a1f7e79cfe81dc06414550fa52418941e">&#9670;&nbsp;</a></span>STATUS_REG</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define STATUS_REG&#160;&#160;&#160;0x0B</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00022">22</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">AS5601::get_pos()</a>.</p>
+
+</div>
+</div>
+</div><!-- contents -->
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+<li class="navelem"><a class="el" href="dir_bc0718b08fb2015b8e59c47b2805f60c.html">libraries</a></li>  </ul>
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+<div class="title">as5601.h</div>  </div>
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+<a href="as5601_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#ifndef AS5601_H_</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#define AS5601_H_</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;Wire.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">   17</a></span>&#160;<span class="preprocessor">#define I2C_FREQ 100000</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="as5601_8h.html#a25c5389b80876b6074ce88c6572b2296">   19</a></span>&#160;<span class="preprocessor">#define AS5601_ID      0x36</span></div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="as5601_8h.html#a0f32fbf0619653f8582cfbb9b5022868">   20</a></span>&#160;<span class="preprocessor">#define RAW_ANG_HIGH   0x0C</span></div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="as5601_8h.html#a60e1d311be398853144f59e1d2a37be1">   21</a></span>&#160;<span class="preprocessor">#define RAW_ANG_LOW    0x0D</span></div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="as5601_8h.html#a1f7e79cfe81dc06414550fa52418941e">   22</a></span>&#160;<span class="preprocessor">#define STATUS_REG     0x0B</span></div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="as5601_8h.html#a6b14c0a97e1a526bf898cd24de183afb">   23</a></span>&#160;<span class="preprocessor">#define AGC            0x1A</span></div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="as5601_8h.html#a44cb76675b777aed3142556943702c80">   24</a></span>&#160;<span class="preprocessor">#define MAGNITUDE_HIGH 0x1B</span></div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="as5601_8h.html#a27977fa09cf94bdf6e6f0f3d78d29c2e">   25</a></span>&#160;<span class="preprocessor">#define MAGNITUDE_LOW  0x1C</span></div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="as5601_8h.html#a50a238669bcc55ea8d1e6cdc48cf0193">   26</a></span>&#160;<span class="preprocessor">#define CONF_HIGH      0x07</span></div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="as5601_8h.html#a5a7b8dcb28f171791bc1d12c6fd88a7f">   27</a></span>&#160;<span class="preprocessor">#define CONF_LOW       0x08</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classAS5601.html">   35</a></span>&#160;<span class="keyword">class </span><a class="code" href="classAS5601.html">AS5601</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">   43</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">Begin</a>() {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        Wire.begin();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        Wire.setClock(<a class="code" href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">I2C_FREQ</a>);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    }</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">   59</a></span>&#160;    uint8_t <a class="code" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a>(<span class="keywordtype">double</span> *new_pos) {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        uint16_t raw_angle;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        uint8_t status_val;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">float</span> raw_pos = 0;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; 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       <span class="comment">// Check the status register</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordflow">if</span> ((status_val &amp; 0x20) &amp;&amp; !(status_val &amp; 0x10)</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                &amp;&amp; !(status_val &amp; 0x08)) {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            <span class="comment">// Convert raw value to angle in deg</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            raw_pos = (float) raw_angle * 0.0879;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            <span class="comment">// Unwrap the angle</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            delta_raw_pos = <a class="code" href="classAS5601.html#a104f193f38617cb45e2af426f10971af">_raw_prev_pos</a> - raw_pos;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; 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   uint16_t <a class="code" href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">get_magnitude</a>() {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">i2c_word_transaction</a>(<a class="code" href="as5601_8h.html#a25c5389b80876b6074ce88c6572b2296">AS5601_ID</a>, <a class="code" href="as5601_8h.html#a44cb76675b777aed3142556943702c80">MAGNITUDE_HIGH</a>);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">  116</a></span>&#160;    uint16_t <a class="code" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">get_conf</a>() {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">i2c_word_transaction</a>(<a class="code" href="as5601_8h.html#a25c5389b80876b6074ce88c6572b2296">AS5601_ID</a>, <a class="code" href="as5601_8h.html#a50a238669bcc55ea8d1e6cdc48cf0193">CONF_HIGH</a>);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">  129</a></span>&#160; 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   <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">  141</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">init_zero</a>() {</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">_angle_offset</a> = 0.0;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">  152</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">set_gear_ratio</a>(uint8_t enc_ratio) {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <a class="code" href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">_enc_ratio</a> = enc_ratio;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">  157</a></span>&#160; 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8) | word_low);</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    }</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;};</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* AS5601_H_ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="ttc" id="classAS5601_html_abfce6bb3f9888bca6c8527ea0d4fad88"><div class="ttname"><a href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">AS5601::get_conf</a></div><div class="ttdeci">uint16_t get_conf()</div><div class="ttdoc">Get the configuration register. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00116">as5601.h:116</a></div></div>
+<div class="ttc" id="classAS5601_html_a6524caff1a797ace0b48dfcad375f37a"><div class="ttname"><a href="classAS5601.html#a6524caff1a797ace0b48dfcad375f37a">AS5601::_n</a></div><div class="ttdeci">int32_t _n</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00158">as5601.h:158</a></div></div>
+<div class="ttc" id="classAS5601_html_aeb9eb168d26d44261dc37d4ca54ae24f"><div class="ttname"><a href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">AS5601::set_gear_ratio</a></div><div class="ttdeci">void set_gear_ratio(uint8_t enc_ratio)</div><div class="ttdoc">Set the gear ratio between encoder and measure axis. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00152">as5601.h:152</a></div></div>
+<div class="ttc" id="as5601_8h_html_a25c5389b80876b6074ce88c6572b2296"><div class="ttname"><a href="as5601_8h.html#a25c5389b80876b6074ce88c6572b2296">AS5601_ID</a></div><div class="ttdeci">#define AS5601_ID</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00019">as5601.h:19</a></div></div>
+<div class="ttc" id="classAS5601_html_afcac1b1abeeea88e465694373136168a"><div class="ttname"><a href="classAS5601.html#afcac1b1abeeea88e465694373136168a">AS5601::i2c_byte_transaction</a></div><div class="ttdeci">uint8_t i2c_byte_transaction(uint8_t i2c_address, uint8_t i2c_register)</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00162">as5601.h:162</a></div></div>
+<div class="ttc" id="as5601_8h_html_a44cb76675b777aed3142556943702c80"><div class="ttname"><a href="as5601_8h.html#a44cb76675b777aed3142556943702c80">MAGNITUDE_HIGH</a></div><div class="ttdeci">#define MAGNITUDE_HIGH</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00024">as5601.h:24</a></div></div>
+<div class="ttc" id="classAS5601_html_a104f193f38617cb45e2af426f10971af"><div class="ttname"><a href="classAS5601.html#a104f193f38617cb45e2af426f10971af">AS5601::_raw_prev_pos</a></div><div class="ttdeci">float _raw_prev_pos</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00159">as5601.h:159</a></div></div>
+<div class="ttc" id="classAS5601_html_af760a7dd400974baf9daebad22920bdb"><div class="ttname"><a href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">AS5601::set_zero</a></div><div class="ttdeci">uint8_t set_zero()</div><div class="ttdoc">Set zero by setting offset angle. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00129">as5601.h:129</a></div></div>
+<div class="ttc" id="as5601_8h_html_a8b7500a141450a9df212017430c0df9e"><div class="ttname"><a href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">I2C_FREQ</a></div><div class="ttdeci">#define I2C_FREQ</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00017">as5601.h:17</a></div></div>
+<div class="ttc" id="classAS5601_html_a6fd828b9871407420fb8a277d13e769c"><div class="ttname"><a href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">AS5601::get_magnitude</a></div><div class="ttdeci">uint16_t get_magnitude()</div><div class="ttdoc">Get the magnitude value of the internal CORDIC output. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00106">as5601.h:106</a></div></div>
+<div class="ttc" id="classAS5601_html"><div class="ttname"><a href="classAS5601.html">AS5601</a></div><div class="ttdoc">Class that functions for interacting with AS5601 magnetic rotary position sensor. ...</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00035">as5601.h:35</a></div></div>
+<div class="ttc" id="classAS5601_html_a9b2058241b8e88142e6376ac5a8abeb4"><div class="ttname"><a href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">AS5601::_angle_offset</a></div><div class="ttdeci">double _angle_offset</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00157">as5601.h:157</a></div></div>
+<div class="ttc" id="as5601_8h_html_a50a238669bcc55ea8d1e6cdc48cf0193"><div class="ttname"><a href="as5601_8h.html#a50a238669bcc55ea8d1e6cdc48cf0193">CONF_HIGH</a></div><div class="ttdeci">#define CONF_HIGH</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00026">as5601.h:26</a></div></div>
+<div class="ttc" id="classAS5601_html_ad8192e27c57aaef265e0649876ca6bf2"><div class="ttname"><a href="classAS5601.html#ad8192e27c57aaef265e0649876ca6bf2">AS5601::get_agc</a></div><div class="ttdeci">uint8_t get_agc()</div><div class="ttdoc">Calculate the automatic gain control (AGC) </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00096">as5601.h:96</a></div></div>
+<div class="ttc" id="as5601_8h_html_a6b14c0a97e1a526bf898cd24de183afb"><div class="ttname"><a href="as5601_8h.html#a6b14c0a97e1a526bf898cd24de183afb">AGC</a></div><div class="ttdeci">#define AGC</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00023">as5601.h:23</a></div></div>
+<div class="ttc" id="classAS5601_html_a6523b0a1e1d9451b1df96398e7212b90"><div class="ttname"><a href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">AS5601::_enc_ratio</a></div><div class="ttdeci">uint8_t _enc_ratio</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00160">as5601.h:160</a></div></div>
+<div class="ttc" id="classAS5601_html_a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><div class="ttname"><a href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">AS5601::get_pos</a></div><div class="ttdeci">uint8_t get_pos(double *new_pos)</div><div class="ttdoc">Calculate an unwrap the position. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00059">as5601.h:59</a></div></div>
+<div class="ttc" id="as5601_8h_html_a0f32fbf0619653f8582cfbb9b5022868"><div class="ttname"><a href="as5601_8h.html#a0f32fbf0619653f8582cfbb9b5022868">RAW_ANG_HIGH</a></div><div class="ttdeci">#define RAW_ANG_HIGH</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00020">as5601.h:20</a></div></div>
+<div class="ttc" id="classAS5601_html_a51af9d44432ad5ccaa764a98d2450ec3"><div class="ttname"><a href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">AS5601::Begin</a></div><div class="ttdeci">void Begin()</div><div class="ttdoc">Initialize the I2C bus. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00043">as5601.h:43</a></div></div>
+<div class="ttc" id="as5601_8h_html_a1f7e79cfe81dc06414550fa52418941e"><div class="ttname"><a href="as5601_8h.html#a1f7e79cfe81dc06414550fa52418941e">STATUS_REG</a></div><div class="ttdeci">#define STATUS_REG</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00022">as5601.h:22</a></div></div>
+<div class="ttc" id="classAS5601_html_a865a4971a787bbdb9ff64fd31e2eb348"><div class="ttname"><a href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">AS5601::init_zero</a></div><div class="ttdeci">void init_zero()</div><div class="ttdoc">Reset zero position set the offset to zero. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00141">as5601.h:141</a></div></div>
+<div class="ttc" id="classAS5601_html_a2d48c32082d4bfa19bde77d614cc78dc"><div class="ttname"><a href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">AS5601::i2c_word_transaction</a></div><div class="ttdeci">uint16_t i2c_word_transaction(uint8_t i2c_address, uint8_t i2c_register)</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00172">as5601.h:172</a></div></div>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div class="header">
+  <div class="headertitle">
+<div class="title">AS5601 Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAS5601.html">AS5601</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">_angle_offset</a></td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">_enc_ratio</a></td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#a6524caff1a797ace0b48dfcad375f37a">_n</a></td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#a104f193f38617cb45e2af426f10971af">_raw_prev_pos</a></td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">Begin</a>()</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#ad8192e27c57aaef265e0649876ca6bf2">get_agc</a>()</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">get_conf</a>()</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">get_magnitude</a>()</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a>(double *new_pos)</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#afcac1b1abeeea88e465694373136168a">i2c_byte_transaction</a>(uint8_t i2c_address, uint8_t i2c_register)</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">i2c_word_transaction</a>(uint8_t i2c_address, uint8_t i2c_register)</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">init_zero</a>()</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">set_gear_ratio</a>(uint8_t enc_ratio)</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a>()</td><td class="entry"><a class="el" href="classAS5601.html">AS5601</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+   <div id="projectname">satnogs-rotator-firmware
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classAS5601-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">AS5601 Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a> magnetic rotary position sensor.  
+ <a href="classAS5601.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="as5601_8h_source.html">as5601.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a51af9d44432ad5ccaa764a98d2450ec3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">Begin</a> ()</td></tr>
+<tr class="memdesc:a51af9d44432ad5ccaa764a98d2450ec3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the I2C bus.  <a href="#a51af9d44432ad5ccaa764a98d2450ec3">More...</a><br /></td></tr>
+<tr class="separator:a51af9d44432ad5ccaa764a98d2450ec3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a> (double *new_pos)</td></tr>
+<tr class="memdesc:a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate an unwrap the position.  <a href="#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">More...</a><br /></td></tr>
+<tr class="separator:a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad8192e27c57aaef265e0649876ca6bf2"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#ad8192e27c57aaef265e0649876ca6bf2">get_agc</a> ()</td></tr>
+<tr class="memdesc:ad8192e27c57aaef265e0649876ca6bf2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the automatic gain control (AGC)  <a href="#ad8192e27c57aaef265e0649876ca6bf2">More...</a><br /></td></tr>
+<tr class="separator:ad8192e27c57aaef265e0649876ca6bf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6fd828b9871407420fb8a277d13e769c"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">get_magnitude</a> ()</td></tr>
+<tr class="memdesc:a6fd828b9871407420fb8a277d13e769c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnitude value of the internal CORDIC output.  <a href="#a6fd828b9871407420fb8a277d13e769c">More...</a><br /></td></tr>
+<tr class="separator:a6fd828b9871407420fb8a277d13e769c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abfce6bb3f9888bca6c8527ea0d4fad88"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">get_conf</a> ()</td></tr>
+<tr class="memdesc:abfce6bb3f9888bca6c8527ea0d4fad88"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the configuration register.  <a href="#abfce6bb3f9888bca6c8527ea0d4fad88">More...</a><br /></td></tr>
+<tr class="separator:abfce6bb3f9888bca6c8527ea0d4fad88"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af760a7dd400974baf9daebad22920bdb"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a> ()</td></tr>
+<tr class="memdesc:af760a7dd400974baf9daebad22920bdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set zero by setting offset angle.  <a href="#af760a7dd400974baf9daebad22920bdb">More...</a><br /></td></tr>
+<tr class="separator:af760a7dd400974baf9daebad22920bdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a865a4971a787bbdb9ff64fd31e2eb348"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">init_zero</a> ()</td></tr>
+<tr class="memdesc:a865a4971a787bbdb9ff64fd31e2eb348"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset zero position set the offset to zero.  <a href="#a865a4971a787bbdb9ff64fd31e2eb348">More...</a><br /></td></tr>
+<tr class="separator:a865a4971a787bbdb9ff64fd31e2eb348"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb9eb168d26d44261dc37d4ca54ae24f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">set_gear_ratio</a> (uint8_t enc_ratio)</td></tr>
+<tr class="memdesc:aeb9eb168d26d44261dc37d4ca54ae24f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the gear ratio between encoder and measure axis.  <a href="#aeb9eb168d26d44261dc37d4ca54ae24f">More...</a><br /></td></tr>
+<tr class="separator:aeb9eb168d26d44261dc37d4ca54ae24f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:afcac1b1abeeea88e465694373136168a"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#afcac1b1abeeea88e465694373136168a">i2c_byte_transaction</a> (uint8_t i2c_address, uint8_t i2c_register)</td></tr>
+<tr class="separator:afcac1b1abeeea88e465694373136168a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d48c32082d4bfa19bde77d614cc78dc"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">i2c_word_transaction</a> (uint8_t i2c_address, uint8_t i2c_register)</td></tr>
+<tr class="separator:a2d48c32082d4bfa19bde77d614cc78dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a9b2058241b8e88142e6376ac5a8abeb4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">_angle_offset</a> = 0</td></tr>
+<tr class="separator:a9b2058241b8e88142e6376ac5a8abeb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6524caff1a797ace0b48dfcad375f37a"><td class="memItemLeft" align="right" valign="top">int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a6524caff1a797ace0b48dfcad375f37a">_n</a> = 0</td></tr>
+<tr class="separator:a6524caff1a797ace0b48dfcad375f37a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a104f193f38617cb45e2af426f10971af"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a104f193f38617cb45e2af426f10971af">_raw_prev_pos</a> = 0</td></tr>
+<tr class="separator:a104f193f38617cb45e2af426f10971af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6523b0a1e1d9451b1df96398e7212b90"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">_enc_ratio</a> = 0</td></tr>
+<tr class="separator:a6523b0a1e1d9451b1df96398e7212b90"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a> magnetic rotary position sensor. </p>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00035">35</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a51af9d44432ad5ccaa764a98d2450ec3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51af9d44432ad5ccaa764a98d2450ec3">&#9670;&nbsp;</a></span>Begin()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AS5601::Begin </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize the I2C bus. </p>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00043">43</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00017">I2C_FREQ</a>.</p>
+
+</div>
+</div>
+<a id="ad8192e27c57aaef265e0649876ca6bf2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8192e27c57aaef265e0649876ca6bf2">&#9670;&nbsp;</a></span>get_agc()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t AS5601::get_agc </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculate the automatic gain control (AGC) </p>
+<dl class="section return"><dt>Returns</dt><dd>The AGC range is 0-255 counts, the gain value should be in the center of its range </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00096">96</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00023">AGC</a>, <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, and <a class="el" href="as5601_8h_source.html#l00162">i2c_byte_transaction()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAS5601_ad8192e27c57aaef265e0649876ca6bf2_cgraph.png" border="0" usemap="#classAS5601_ad8192e27c57aaef265e0649876ca6bf2_cgraph" alt=""/></div>
+<map name="classAS5601_ad8192e27c57aaef265e0649876ca6bf2_cgraph" id="classAS5601_ad8192e27c57aaef265e0649876ca6bf2_cgraph">
+<area shape="rect" id="node2" href="classAS5601.html#afcac1b1abeeea88e465694373136168a" title="AS5601::i2c_byte_transaction" alt="" coords="184,5,399,32"/>
+</map>
+</div>
+
+</div>
+</div>
+<a id="abfce6bb3f9888bca6c8527ea0d4fad88"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abfce6bb3f9888bca6c8527ea0d4fad88">&#9670;&nbsp;</a></span>get_conf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t AS5601::get_conf </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the configuration register. </p>
+<dl class="section return"><dt>Returns</dt><dd>The Configuration register </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00116">116</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, <a class="el" href="as5601_8h_source.html#l00026">CONF_HIGH</a>, and <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAS5601_abfce6bb3f9888bca6c8527ea0d4fad88_cgraph.png" border="0" usemap="#classAS5601_abfce6bb3f9888bca6c8527ea0d4fad88_cgraph" alt=""/></div>
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+</div>
+
+</div>
+</div>
+<a id="a6fd828b9871407420fb8a277d13e769c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fd828b9871407420fb8a277d13e769c">&#9670;&nbsp;</a></span>get_magnitude()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t AS5601::get_magnitude </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the magnitude value of the internal CORDIC output. </p>
+<dl class="section return"><dt>Returns</dt><dd>The magnitude value of the internal CORDIC output </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00106">106</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>, and <a class="el" href="as5601_8h_source.html#l00024">MAGNITUDE_HIGH</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAS5601_a6fd828b9871407420fb8a277d13e769c_cgraph.png" border="0" usemap="#classAS5601_a6fd828b9871407420fb8a277d13e769c_cgraph" alt=""/></div>
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+</div>
+</div>
+<a id="a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">&#9670;&nbsp;</a></span>get_pos()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t AS5601::get_pos </td>
+          <td>(</td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>new_pos</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculate an unwrap the position. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">new_pos</td><td>Calculate the current position of the sensor </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state of the <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a>: Magnet is too strong Magnet is too weak Magnet was detect </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00059">59</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00157">_angle_offset</a>, <a class="el" href="as5601_8h_source.html#l00160">_enc_ratio</a>, <a class="el" href="as5601_8h_source.html#l00158">_n</a>, <a class="el" href="as5601_8h_source.html#l00159">_raw_prev_pos</a>, <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, <a class="el" href="as5601_8h_source.html#l00162">i2c_byte_transaction()</a>, <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>, <a class="el" href="as5601_8h_source.html#l00020">RAW_ANG_HIGH</a>, and <a class="el" href="as5601_8h_source.html#l00022">STATUS_REG</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="as5601_8h_source.html#l00129">set_zero()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAS5601_a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5_cgraph.png" border="0" usemap="#classAS5601_a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5_cgraph" alt=""/></div>
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+</div>
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+</div>
+</div>
+<a id="afcac1b1abeeea88e465694373136168a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afcac1b1abeeea88e465694373136168a">&#9670;&nbsp;</a></span>i2c_byte_transaction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t AS5601::i2c_byte_transaction </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>i2c_address</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>i2c_register</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00162">162</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00096">get_agc()</a>, <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>, and <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>.</p>
+
+</div>
+</div>
+<a id="a2d48c32082d4bfa19bde77d614cc78dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d48c32082d4bfa19bde77d614cc78dc">&#9670;&nbsp;</a></span>i2c_word_transaction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t AS5601::i2c_word_transaction </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>i2c_address</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>i2c_register</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00172">172</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00162">i2c_byte_transaction()</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00116">get_conf()</a>, <a class="el" href="as5601_8h_source.html#l00106">get_magnitude()</a>, and <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAS5601_a2d48c32082d4bfa19bde77d614cc78dc_cgraph.png" border="0" usemap="#classAS5601_a2d48c32082d4bfa19bde77d614cc78dc_cgraph" alt=""/></div>
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+</map>
+</div>
+
+</div>
+</div>
+<a id="a865a4971a787bbdb9ff64fd31e2eb348"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a865a4971a787bbdb9ff64fd31e2eb348">&#9670;&nbsp;</a></span>init_zero()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AS5601::init_zero </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reset zero position set the offset to zero. </p>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00141">141</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00157">_angle_offset</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
+
+</div>
+</div>
+<a id="aeb9eb168d26d44261dc37d4ca54ae24f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb9eb168d26d44261dc37d4ca54ae24f">&#9670;&nbsp;</a></span>set_gear_ratio()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AS5601::set_gear_ratio </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>enc_ratio</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the gear ratio between encoder and measure axis. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">enc_ratio</td><td>An uitn8_t, that represents the gear ratio </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00152">152</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00160">_enc_ratio</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="af760a7dd400974baf9daebad22920bdb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af760a7dd400974baf9daebad22920bdb">&#9670;&nbsp;</a></span>set_zero()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t AS5601::set_zero </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set zero by setting offset angle. </p>
+<dl class="section return"><dt>Returns</dt><dd>The state of the <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a>: Magnet is too strong Magnet is too weak Magnet was detect </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00129">129</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00157">_angle_offset</a>, and <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAS5601_af760a7dd400974baf9daebad22920bdb_cgraph.png" border="0" usemap="#classAS5601_af760a7dd400974baf9daebad22920bdb_cgraph" alt=""/></div>
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+</div>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9b2058241b8e88142e6376ac5a8abeb4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b2058241b8e88142e6376ac5a8abeb4">&#9670;&nbsp;</a></span>_angle_offset</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double AS5601::_angle_offset = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00157">157</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>, <a class="el" href="as5601_8h_source.html#l00141">init_zero()</a>, and <a class="el" href="as5601_8h_source.html#l00129">set_zero()</a>.</p>
+
+</div>
+</div>
+<a id="a6523b0a1e1d9451b1df96398e7212b90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6523b0a1e1d9451b1df96398e7212b90">&#9670;&nbsp;</a></span>_enc_ratio</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t AS5601::_enc_ratio = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00160">160</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>, and <a class="el" href="as5601_8h_source.html#l00152">set_gear_ratio()</a>.</p>
+
+</div>
+</div>
+<a id="a6524caff1a797ace0b48dfcad375f37a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6524caff1a797ace0b48dfcad375f37a">&#9670;&nbsp;</a></span>_n</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int32_t AS5601::_n = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00158">158</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
+
+</div>
+</div>
+<a id="a104f193f38617cb45e2af426f10971af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a104f193f38617cb45e2af426f10971af">&#9670;&nbsp;</a></span>_raw_prev_pos</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">float AS5601::_raw_prev_pos = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00159">159</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>libraries/<a class="el" href="as5601_8h_source.html">as5601.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
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+<div class="title">easycomm Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="classeasycomm.html">easycomm</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm_proc</a>()</td><td class="entry"><a class="el" href="classeasycomm.html">easycomm</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(char *input)</td><td class="entry"><a class="el" href="classeasycomm.html">easycomm</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+</table></div><!-- contents -->
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+<title>satnogs-rotator-firmware: easycomm Class Reference</title>
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+   <div id="projectname">satnogs-rotator-firmware
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="classeasycomm-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">easycomm Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for easycomm 3 implementation.  
+ <a href="classeasycomm.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="easycomm_8h_source.html">easycomm.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7db30a0f3a754dc281cbedab461d76f6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm_init</a> ()</td></tr>
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+<tr class="separator:a7db30a0f3a754dc281cbedab461d76f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68c229f5c44074fae9992ec9ea605046"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm_proc</a> ()</td></tr>
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+<tr class="memitem:a0da8917b93ae0d477791a86e1edeefb9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a> (char *input)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+
+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00031">31</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7db30a0f3a754dc281cbedab461d76f6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7db30a0f3a754dc281cbedab461d76f6">&#9670;&nbsp;</a></span>easycomm_init()</h2>
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+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<p>Initialize the RS485 bus. </p>
+
+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00039">39</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+
+<p class="reference">References <a class="el" href="easycomm_8h_source.html#l00022">BAUDRATE</a>, and <a class="el" href="rs485_8h_source.html#l00038">rs485::begin()</a>.</p>
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+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<p>Get the commands from RS485 and response to the client. </p>
+
+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00048">48</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+
+<p class="reference">References <a class="el" href="rs485_8h_source.html#l00073">rs485::available()</a>, <a class="el" href="easycomm_8h_source.html#l00021">BUFFER_SIZE</a>, <a class="el" href="globals_8h_source.html#l00051">control_az</a>, <a class="el" href="globals_8h_source.html#l00054">control_el</a>, <a class="el" href="globals_8h_source.html#l00043">_rotator::control_mode</a>, <a class="el" href="globals_8h_source.html#l00037">_control::d</a>, <a class="el" href="rs485_8h_source.html#l00082">rs485::flush()</a>, <a class="el" href="globals_8h_source.html#l00044">_rotator::homing_flag</a>, <a class="el" href="globals_8h_source.html#l00037">_control::i</a>, <a class="el" href="globals_8h_source.html#l00030">_control::input</a>, <a class="el" href="globals_8h_source.html#l00045">_rotator::inside_temperature</a>, <a class="el" href="easycomm_8h_source.html#l00378">isNumber()</a>, <a class="el" href="globals_8h_source.html#l00035">_control::load</a>, <a class="el" href="globals_8h_source.html#l00037">_control::p</a>, <a class="el" href="globals_8h_source.html#l00046">_rotator::park_az</a>, <a class="el" href="globals_8h_source.html#l00046">_rotator::park_el</a>, <a class="el" href="globals_8h_source.html#l00026">position</a>, <a class="el" href="rs485_8h_source.html#l00050">rs485::print()</a>, <a class="el" href="rs485_8h_source.html#l00063">rs485::read()</a>, <a class="el" href="globals_8h_source.html#l00057">rotator</a>, <a class="el" href="globals_8h_source.html#l00042">_rotator::rotator_error</a>, <a class="el" href="globals_8h_source.html#l00041">_rotator::rotator_status</a>, <a class="el" href="globals_8h_source.html#l00033">_control::setpoint</a>, <a class="el" href="globals_8h_source.html#l00034">_control::setpoint_speed</a>, <a class="el" href="globals_8h_source.html#l00026">speed</a>, <a class="el" href="globals_8h_source.html#l00032">_control::speed</a>, <a class="el" href="globals_8h_source.html#l00048">_rotator::switch_az</a>, and <a class="el" href="globals_8h_source.html#l00048">_rotator::switch_el</a>.</p>
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+          <td>(</td>
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+          <td></td>
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+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00378">378</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>libraries/<a class="el" href="easycomm_8h_source.html">easycomm.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">endstop Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classendstop.html">endstop</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classendstop.html#aaf8429fa28d2aa40a42884b469e8f626">_default_state</a></td><td class="entry"><a class="el" href="classendstop.html">endstop</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">_pin</a></td><td class="entry"><a class="el" href="classendstop.html">endstop</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classendstop.html#accd7d557af506828fffb434809f422f1">endstop</a>(uint8_t pin, bool default_state)</td><td class="entry"><a class="el" href="classendstop.html">endstop</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>()</td><td class="entry"><a class="el" href="classendstop.html">endstop</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a>()</td><td class="entry"><a class="el" href="classendstop.html">endstop</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: endstop Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
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+  $(document).ready(function() { init_search(); });
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classendstop-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">endstop Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with end-stop.  
+ <a href="classendstop.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="endstop_8h_source.html">endstop.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:accd7d557af506828fffb434809f422f1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classendstop.html#accd7d557af506828fffb434809f422f1">endstop</a> (uint8_t pin, bool default_state)</td></tr>
+<tr class="separator:accd7d557af506828fffb434809f422f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d24d7ed95ded92431288da42a6aebf9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a> ()</td></tr>
+<tr class="memdesc:a6d24d7ed95ded92431288da42a6aebf9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the Input pin for end-stop.  <a href="#a6d24d7ed95ded92431288da42a6aebf9">More...</a><br /></td></tr>
+<tr class="separator:a6d24d7ed95ded92431288da42a6aebf9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a530a60aaf81bd5022e56df71c194dfbc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a> ()</td></tr>
+<tr class="memdesc:a530a60aaf81bd5022e56df71c194dfbc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the state of end-stop.  <a href="#a530a60aaf81bd5022e56df71c194dfbc">More...</a><br /></td></tr>
+<tr class="separator:a530a60aaf81bd5022e56df71c194dfbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a17475e2676c5922399ea8b2bd6de0111"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">_pin</a></td></tr>
+<tr class="separator:a17475e2676c5922399ea8b2bd6de0111"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf8429fa28d2aa40a42884b469e8f626"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classendstop.html#aaf8429fa28d2aa40a42884b469e8f626">_default_state</a></td></tr>
+<tr class="separator:aaf8429fa28d2aa40a42884b469e8f626"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with end-stop. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pin</td><td>Set the arduino pin </td></tr>
+    <tr><td class="paramname">default_state</td><td>Set the default state of end-stop HIGH or LOW </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="endstop_8h_source.html#l00022">22</a> of file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="accd7d557af506828fffb434809f422f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#accd7d557af506828fffb434809f422f1">&#9670;&nbsp;</a></span>endstop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">endstop::endstop </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>default_state</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="endstop_8h_source.html#l00025">25</a> of file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
+
+<p class="reference">References <a class="el" href="endstop_8h_source.html#l00054">_default_state</a>, and <a class="el" href="endstop_8h_source.html#l00053">_pin</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a530a60aaf81bd5022e56df71c194dfbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a530a60aaf81bd5022e56df71c194dfbc">&#9670;&nbsp;</a></span>get_state()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool endstop::get_state </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the state of end-stop. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if end-stop is triggered </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="endstop_8h_source.html#l00045">45</a> of file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
+
+<p class="reference">References <a class="el" href="endstop_8h_source.html#l00054">_default_state</a>, and <a class="el" href="endstop_8h_source.html#l00053">_pin</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a6d24d7ed95ded92431288da42a6aebf9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d24d7ed95ded92431288da42a6aebf9">&#9670;&nbsp;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void endstop::init </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize the Input pin for end-stop. </p>
+
+<p class="definition">Definition at line <a class="el" href="endstop_8h_source.html#l00035">35</a> of file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
+
+<p class="reference">References <a class="el" href="endstop_8h_source.html#l00053">_pin</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aaf8429fa28d2aa40a42884b469e8f626"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf8429fa28d2aa40a42884b469e8f626">&#9670;&nbsp;</a></span>_default_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool endstop::_default_state</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="endstop_8h_source.html#l00054">54</a> of file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="endstop_8h_source.html#l00025">endstop()</a>, and <a class="el" href="endstop_8h_source.html#l00045">get_state()</a>.</p>
+
+</div>
+</div>
+<a id="a17475e2676c5922399ea8b2bd6de0111"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17475e2676c5922399ea8b2bd6de0111">&#9670;&nbsp;</a></span>_pin</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t endstop::_pin</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="endstop_8h_source.html#l00053">53</a> of file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="endstop_8h_source.html#l00025">endstop()</a>, <a class="el" href="endstop_8h_source.html#l00045">get_state()</a>, and <a class="el" href="endstop_8h_source.html#l00035">init()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>libraries/<a class="el" href="endstop_8h_source.html">endstop.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
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+<title>satnogs-rotator-firmware: Class Index</title>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
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+  </td>
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+</td><td rowspan="2" valign="bottom"><a name="letter_e"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;e&#160;&#160;</div></td></tr></table>
+</td><td rowspan="2" valign="bottom"><a name="letter_m"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;m&#160;&#160;</div></td></tr></table>
+</td><td rowspan="2" valign="bottom"><a name="letter_t"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;t&#160;&#160;</div></td></tr></table>
+</td><td></td></tr>
+<tr><td></td></tr>
+<tr><td valign="top"><a class="el" href="struct__control.html">_control</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classeasycomm.html">easycomm</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classmotor.html">motor</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classtc74.html">tc74</a>&#160;&#160;&#160;</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="struct__rotator.html">_rotator</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classendstop.html">endstop</a>&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_r"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;r&#160;&#160;</div></td></tr></table>
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+</td><td rowspan="2" valign="bottom"><a name="letter_i"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;i&#160;&#160;</div></td></tr></table>
+</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classrs485.html">rs485</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classwdt__timer.html">wdt_timer</a>&#160;&#160;&#160;</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classAS5601.html">AS5601</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classi2c__mux.html">i2c_mux</a>&#160;&#160;&#160;</td><td></td><td></td><td></td></tr>
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+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<title>satnogs-rotator-firmware: Member List</title>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
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+  <div class="headertitle">
+<div class="title">i2c_mux Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classi2c__mux.html">i2c_mux</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classi2c__mux.html#acca9a43816973b7471017cbc1d6fd70a">_ch0</a></td><td class="entry"><a class="el" href="classi2c__mux.html">i2c_mux</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classi2c__mux.html#a3aa95a560e46d8a078ca2fd2eeb4dab4">_ch1</a></td><td class="entry"><a class="el" href="classi2c__mux.html">i2c_mux</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classi2c__mux.html#ad56c7d14d6638caa0bccce4d609256c6">_id</a></td><td class="entry"><a class="el" href="classi2c__mux.html">i2c_mux</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classi2c__mux.html#aacb992d29412ed15eb0b8b1983dcf976">i2c_mux</a>(uint8_t id, uint8_t ch0, uint8_t ch1)</td><td class="entry"><a class="el" href="classi2c__mux.html">i2c_mux</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">init</a>()</td><td class="entry"><a class="el" href="classi2c__mux.html">i2c_mux</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(uint8_t ch)</td><td class="entry"><a class="el" href="classi2c__mux.html">i2c_mux</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/doxygen_files/html/classi2c__mux.html b/doxygen_files/html/classi2c__mux.html
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
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+</table>
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classi2c__mux-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">i2c_mux Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with I2C 1-of-2 multiplexer.  
+ <a href="classi2c__mux.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aacb992d29412ed15eb0b8b1983dcf976"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classi2c__mux.html#aacb992d29412ed15eb0b8b1983dcf976">i2c_mux</a> (uint8_t id, uint8_t ch0, uint8_t ch1)</td></tr>
+<tr class="separator:aacb992d29412ed15eb0b8b1983dcf976"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a297c753f7c9fd03b7a6be09a7d3bd87a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">init</a> ()</td></tr>
+<tr class="memdesc:a297c753f7c9fd03b7a6be09a7d3bd87a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the I2C bus.  <a href="#a297c753f7c9fd03b7a6be09a7d3bd87a">More...</a><br /></td></tr>
+<tr class="separator:a297c753f7c9fd03b7a6be09a7d3bd87a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4a7327c09d2f0ea8ee5a5797871e876"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a> (uint8_t ch)</td></tr>
+<tr class="memdesc:af4a7327c09d2f0ea8ee5a5797871e876"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change the channel.  <a href="#af4a7327c09d2f0ea8ee5a5797871e876">More...</a><br /></td></tr>
+<tr class="separator:af4a7327c09d2f0ea8ee5a5797871e876"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:ad56c7d14d6638caa0bccce4d609256c6"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classi2c__mux.html#ad56c7d14d6638caa0bccce4d609256c6">_id</a></td></tr>
+<tr class="separator:ad56c7d14d6638caa0bccce4d609256c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acca9a43816973b7471017cbc1d6fd70a"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classi2c__mux.html#acca9a43816973b7471017cbc1d6fd70a">_ch0</a></td></tr>
+<tr class="separator:acca9a43816973b7471017cbc1d6fd70a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3aa95a560e46d8a078ca2fd2eeb4dab4"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classi2c__mux.html#a3aa95a560e46d8a078ca2fd2eeb4dab4">_ch1</a></td></tr>
+<tr class="separator:a3aa95a560e46d8a078ca2fd2eeb4dab4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with I2C 1-of-2 multiplexer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">id</td><td>I2C ID in HEX </td></tr>
+    <tr><td class="paramname">ch0</td><td>Channel 0 in HEX </td></tr>
+    <tr><td class="paramname">ch1</td><td>Channel 1 in HEX </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00028">28</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aacb992d29412ed15eb0b8b1983dcf976"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aacb992d29412ed15eb0b8b1983dcf976">&#9670;&nbsp;</a></span>i2c_mux()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">i2c_mux::i2c_mux </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ch0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ch1</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00031">31</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+
+<p class="reference">References <a class="el" href="i2c__mux_8h_source.html#l00067">_ch0</a>, <a class="el" href="i2c__mux_8h_source.html#l00067">_ch1</a>, and <a class="el" href="i2c__mux_8h_source.html#l00067">_id</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a297c753f7c9fd03b7a6be09a7d3bd87a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a297c753f7c9fd03b7a6be09a7d3bd87a">&#9670;&nbsp;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void i2c_mux::init </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize the I2C bus. </p>
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00042">42</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+
+<p class="reference">References <a class="el" href="i2c__mux_8h_source.html#l00015">I2C_FREQ</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="af4a7327c09d2f0ea8ee5a5797871e876"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4a7327c09d2f0ea8ee5a5797871e876">&#9670;&nbsp;</a></span>set_channel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void i2c_mux::set_channel </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ch</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Change the channel. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ch</td><td>Set the channel that is connected with Master, CH0 or CH1 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00054">54</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+
+<p class="reference">References <a class="el" href="i2c__mux_8h_source.html#l00067">_ch0</a>, <a class="el" href="i2c__mux_8h_source.html#l00067">_ch1</a>, and <a class="el" href="i2c__mux_8h_source.html#l00067">_id</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="acca9a43816973b7471017cbc1d6fd70a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acca9a43816973b7471017cbc1d6fd70a">&#9670;&nbsp;</a></span>_ch0</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t i2c_mux::_ch0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00067">67</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="i2c__mux_8h_source.html#l00031">i2c_mux()</a>, and <a class="el" href="i2c__mux_8h_source.html#l00054">set_channel()</a>.</p>
+
+</div>
+</div>
+<a id="a3aa95a560e46d8a078ca2fd2eeb4dab4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3aa95a560e46d8a078ca2fd2eeb4dab4">&#9670;&nbsp;</a></span>_ch1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t i2c_mux::_ch1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00067">67</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="i2c__mux_8h_source.html#l00031">i2c_mux()</a>, and <a class="el" href="i2c__mux_8h_source.html#l00054">set_channel()</a>.</p>
+
+</div>
+</div>
+<a id="ad56c7d14d6638caa0bccce4d609256c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad56c7d14d6638caa0bccce4d609256c6">&#9670;&nbsp;</a></span>_id</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t i2c_mux::_id</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="i2c__mux_8h_source.html#l00067">67</a> of file <a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="i2c__mux_8h_source.html#l00031">i2c_mux()</a>, and <a class="el" href="i2c__mux_8h_source.html#l00054">set_channel()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>libraries/<a class="el" href="i2c__mux_8h_source.html">i2c_mux.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">motor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmotor.html">motor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a></td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">disenable</a>()</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">enable</a>()</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">get_fault</a>()</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">get_load</a>()</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">init_pin</a>()</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">init_timer</a>(uint8_t timer, uint16_t divisor)</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor</a>(uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin, uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed)</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(int16_t speed)</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">set_max</a>(uint16_t max)</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">set_min</a>(uint16_t min)</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>()</td><td class="entry"><a class="el" href="classmotor.html">motor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+   <div id="projectname">satnogs-rotator-firmware
+   </div>
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+        name="MSearchResults" id="MSearchResults">
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classmotor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">motor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with a Motor Driver Carrier.  
+ <a href="classmotor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="motor_8h_source.html">motor.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a035f9f051ce59d705654966dd95851"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor</a> (uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin, uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed)</td></tr>
+<tr class="separator:a2a035f9f051ce59d705654966dd95851"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c7a40ef8985fae55eda9b9254d760a7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">init_pin</a> ()</td></tr>
+<tr class="memdesc:a7c7a40ef8985fae55eda9b9254d760a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize pins of DC motor driver.  <a href="#a7c7a40ef8985fae55eda9b9254d760a7">More...</a><br /></td></tr>
+<tr class="separator:a7c7a40ef8985fae55eda9b9254d760a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aa585ea14305952469f95cb26f3ad2f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">init_timer</a> (uint8_t timer, uint16_t divisor)</td></tr>
+<tr class="memdesc:a1aa585ea14305952469f95cb26f3ad2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set timer frequency, for timers 0, 1, 2.  <a href="#a1aa585ea14305952469f95cb26f3ad2f">More...</a><br /></td></tr>
+<tr class="separator:a1aa585ea14305952469f95cb26f3ad2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abee35525f6340b3a8118e8711a6033b4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">enable</a> ()</td></tr>
+<tr class="memdesc:abee35525f6340b3a8118e8711a6033b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable motor driver.  <a href="#abee35525f6340b3a8118e8711a6033b4">More...</a><br /></td></tr>
+<tr class="separator:abee35525f6340b3a8118e8711a6033b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae21d592f52c6aa57a641ca3e99cf52b9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">disenable</a> ()</td></tr>
+<tr class="memdesc:ae21d592f52c6aa57a641ca3e99cf52b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable motor driver.  <a href="#ae21d592f52c6aa57a641ca3e99cf52b9">More...</a><br /></td></tr>
+<tr class="separator:ae21d592f52c6aa57a641ca3e99cf52b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae106093068947e7b5453cfb70c06e83d"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">get_load</a> ()</td></tr>
+<tr class="memdesc:ae106093068947e7b5453cfb70c06e83d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the load of DC motor.  <a href="#ae106093068947e7b5453cfb70c06e83d">More...</a><br /></td></tr>
+<tr class="separator:ae106093068947e7b5453cfb70c06e83d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3fb941091e69025a6ed7b66b2458b302"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">get_fault</a> ()</td></tr>
+<tr class="memdesc:a3fb941091e69025a6ed7b66b2458b302"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the status flag of motor driver.  <a href="#a3fb941091e69025a6ed7b66b2458b302">More...</a><br /></td></tr>
+<tr class="separator:a3fb941091e69025a6ed7b66b2458b302"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01f848ad7e9ff16b4cb61174d3a5a084"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a> (int16_t <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>)</td></tr>
+<tr class="memdesc:a01f848ad7e9ff16b4cb61174d3a5a084"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move the DC motor with constant voltage (~speed)  <a href="#a01f848ad7e9ff16b4cb61174d3a5a084">More...</a><br /></td></tr>
+<tr class="separator:a01f848ad7e9ff16b4cb61174d3a5a084"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9395e462f009a775c5fbe11f4c39150c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a> ()</td></tr>
+<tr class="memdesc:a9395e462f009a775c5fbe11f4c39150c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stop moving the DC motor.  <a href="#a9395e462f009a775c5fbe11f4c39150c">More...</a><br /></td></tr>
+<tr class="separator:a9395e462f009a775c5fbe11f4c39150c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afcebea9102569fa416a2872f0d33b32e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">set_min</a> (uint16_t min)</td></tr>
+<tr class="memdesc:afcebea9102569fa416a2872f0d33b32e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the minimum speed of DC motor.  <a href="#afcebea9102569fa416a2872f0d33b32e">More...</a><br /></td></tr>
+<tr class="separator:afcebea9102569fa416a2872f0d33b32e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9881112348f2cf0d338fc47fefd66f15"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">set_max</a> (uint16_t max)</td></tr>
+<tr class="memdesc:a9881112348f2cf0d338fc47fefd66f15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the maximum speed of DC motor.  <a href="#a9881112348f2cf0d338fc47fefd66f15">More...</a><br /></td></tr>
+<tr class="separator:a9881112348f2cf0d338fc47fefd66f15"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:aad1f7bbc1a73c605947ce4a80a8019f8"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a></td></tr>
+<tr class="separator:aad1f7bbc1a73c605947ce4a80a8019f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acc3ee3c3243453a974ca0e9f96e93bce"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a></td></tr>
+<tr class="separator:acc3ee3c3243453a974ca0e9f96e93bce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0a0c29d8c7332855eba796dc9d17d516"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a></td></tr>
+<tr class="separator:a0a0c29d8c7332855eba796dc9d17d516"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa8dc53ecf02031b944ef6658c2b14fde"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a></td></tr>
+<tr class="separator:aa8dc53ecf02031b944ef6658c2b14fde"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3782417f957c2c0806bb37df3709b4a"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a></td></tr>
+<tr class="separator:ad3782417f957c2c0806bb37df3709b4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a8635dc94a8eb9a410b5dff9c658d09"><td class="memItemLeft" align="right" valign="top">int16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a></td></tr>
+<tr class="separator:a7a8635dc94a8eb9a410b5dff9c658d09"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a14521e2beea4039acb94a5a20f3282ca"><td class="memItemLeft" align="right" valign="top">int16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a></td></tr>
+<tr class="separator:a14521e2beea4039acb94a5a20f3282ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with a Motor Driver Carrier. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pwm_pin1</td><td>PWM pin, regulate the duty cycle </td></tr>
+    <tr><td class="paramname">pwm_pin2</td><td>PWM pin, regulate the duty cycle </td></tr>
+    <tr><td class="paramname">fb_pin</td><td>Analog pin that measure the analog current-sense feedback </td></tr>
+    <tr><td class="paramname">en_pin</td><td>Digital pin that enable and disable the motor driver </td></tr>
+    <tr><td class="paramname">sf_pin</td><td>Digital pin that read if the motor driver works properly or not </td></tr>
+    <tr><td class="paramname">maxSpeed</td><td>Set the maximum PWM value that the DC motor can handle, e.g. max 255 (8 bit timer) </td></tr>
+    <tr><td class="paramname">minSpeed</td><td>Set the minimum PWM value that the DC motor can handle, e.g. min 5 (8-bit timer) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00035">35</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2a035f9f051ce59d705654966dd95851"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a035f9f051ce59d705654966dd95851">&#9670;&nbsp;</a></span>motor()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">motor::motor </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pwm_pin1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pwm_pin2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>fb_pin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>en_pin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>sf_pin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>maxSpeed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>minSpeed</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00038">38</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_en_pin</a>, <a class="el" href="motor_8h_source.html#l00242">_fb_pin</a>, <a class="el" href="motor_8h_source.html#l00243">_maxSpeed</a>, <a class="el" href="motor_8h_source.html#l00243">_minSpeed</a>, <a class="el" href="motor_8h_source.html#l00242">_pwm_pin1</a>, <a class="el" href="motor_8h_source.html#l00242">_pwm_pin2</a>, <a class="el" href="motor_8h_source.html#l00242">_sf_pin</a>, and <a class="el" href="motor_8h_source.html#l00214">stop()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classmotor_a2a035f9f051ce59d705654966dd95851_cgraph.png" border="0" usemap="#classmotor_a2a035f9f051ce59d705654966dd95851_cgraph" alt=""/></div>
+<map name="classmotor_a2a035f9f051ce59d705654966dd95851_cgraph" id="classmotor_a2a035f9f051ce59d705654966dd95851_cgraph">
+<area shape="rect" id="node2" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c" title="Stop moving the DC motor. " alt="" coords="161,5,259,32"/>
+</map>
+</div>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae21d592f52c6aa57a641ca3e99cf52b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae21d592f52c6aa57a641ca3e99cf52b9">&#9670;&nbsp;</a></span>disenable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::disenable </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Disable motor driver. </p>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00155">155</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_en_pin</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="abee35525f6340b3a8118e8711a6033b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abee35525f6340b3a8118e8711a6033b4">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::enable </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enable motor driver. </p>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00146">146</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_en_pin</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a3fb941091e69025a6ed7b66b2458b302"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fb941091e69025a6ed7b66b2458b302">&#9670;&nbsp;</a></span>get_fault()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t motor::get_fault </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the status flag of motor driver. </p>
+<dl class="section return"><dt>Returns</dt><dd>HIGH the motor driver is working properly LOW an over-current (short circuit) or over-temperature event </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00176">176</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_sf_pin</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="ae106093068947e7b5453cfb70c06e83d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae106093068947e7b5453cfb70c06e83d">&#9670;&nbsp;</a></span>get_load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t motor::get_load </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculate the load of DC motor. </p>
+<dl class="section return"><dt>Returns</dt><dd>Return an analog read value 0-1023 </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00165">165</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_fb_pin</a>.</p>
+
+</div>
+</div>
+<a id="a7c7a40ef8985fae55eda9b9254d760a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c7a40ef8985fae55eda9b9254d760a7">&#9670;&nbsp;</a></span>init_pin()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::init_pin </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize pins of DC motor driver. </p>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00055">55</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_en_pin</a>, <a class="el" href="motor_8h_source.html#l00242">_fb_pin</a>, <a class="el" href="motor_8h_source.html#l00242">_pwm_pin1</a>, <a class="el" href="motor_8h_source.html#l00242">_pwm_pin2</a>, and <a class="el" href="motor_8h_source.html#l00242">_sf_pin</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a1aa585ea14305952469f95cb26f3ad2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1aa585ea14305952469f95cb26f3ad2f">&#9670;&nbsp;</a></span>init_timer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::init_timer </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>timer</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>divisor</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set timer frequency, for timers 0, 1, 2. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">timer</td><td>PWM frequency for D5 &amp; D6, set timer 0 PWM frequency for D9 &amp; D10, set timer 1 PWM frequency for D3 &amp; D11, set timer 2 </td></tr>
+    <tr><td class="paramname">divisor</td><td>For timer 0 divisor to 1 for PWM frequency of 62500.00 Hz divisor to 8 for PWM frequency of 7812.50 Hz divisor to 64 for PWM frequency of 976.56 Hz (The DEFAULT) divisor to 256 for PWM frequency of 244.14 Hz divisor to 1024 for PWM frequency of 61.04 Hz For timer 1 divisor to 1 for PWM frequency of 31372.55 Hz divisor to 8 for PWM frequency of 3921.16 Hz divisor to 64 for PWM frequency of 490.20 Hz (The DEFAULT) divisor to 256 for PWM frequency of 122.55 Hz divisor to 1024 for PWM frequency of 30.64 Hz For timer 2 divisor to 1 for PWM frequency of 31372.55 Hz divisor to 8 for PWM frequency of 3921.16 Hz divisor to 32 for PWM frequency of 980.39 Hz divisor to 64 for PWM frequency of 490.20 Hz (The DEFAULT) divisor to 128 for PWM frequency of 245.10 Hz divisor to 256 for PWM frequency of 122.55 Hz divisor to 1024 for PWM frequency of 30.64 Hz </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00095">95</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a01f848ad7e9ff16b4cb61174d3a5a084"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01f848ad7e9ff16b4cb61174d3a5a084">&#9670;&nbsp;</a></span>move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::move </td>
+          <td>(</td>
+          <td class="paramtype">int16_t&#160;</td>
+          <td class="paramname"><em>speed</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move the DC motor with constant voltage (~speed) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">speed</td><td>Range minSpeed - maxSpeed, -255 - +255 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00188">188</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00243">_maxSpeed</a>, <a class="el" href="motor_8h_source.html#l00243">_minSpeed</a>, <a class="el" href="motor_8h_source.html#l00242">_pwm_pin1</a>, <a class="el" href="motor_8h_source.html#l00242">_pwm_pin2</a>, <a class="el" href="globals_8h_source.html#l00026">speed</a>, and <a class="el" href="motor_8h_source.html#l00214">stop()</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classmotor_a01f848ad7e9ff16b4cb61174d3a5a084_cgraph.png" border="0" usemap="#classmotor_a01f848ad7e9ff16b4cb61174d3a5a084_cgraph" alt=""/></div>
+<map name="classmotor_a01f848ad7e9ff16b4cb61174d3a5a084_cgraph" id="classmotor_a01f848ad7e9ff16b4cb61174d3a5a084_cgraph">
+<area shape="rect" id="node2" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c" title="Stop moving the DC motor. " alt="" coords="160,5,257,32"/>
+</map>
+</div>
+
+</div>
+</div>
+<a id="a9881112348f2cf0d338fc47fefd66f15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9881112348f2cf0d338fc47fefd66f15">&#9670;&nbsp;</a></span>set_max()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::set_max </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>max</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update the maximum speed of DC motor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">max</td><td>Maximum speed, e.g. a range of 170 - 255 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00237">237</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00243">_maxSpeed</a>.</p>
+
+</div>
+</div>
+<a id="afcebea9102569fa416a2872f0d33b32e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afcebea9102569fa416a2872f0d33b32e">&#9670;&nbsp;</a></span>set_min()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::set_min </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>min</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update the minimum speed of DC motor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">min</td><td>Minimum speed, e.g. a range of 0 - 40 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00226">226</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00243">_minSpeed</a>.</p>
+
+</div>
+</div>
+<a id="a9395e462f009a775c5fbe11f4c39150c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9395e462f009a775c5fbe11f4c39150c">&#9670;&nbsp;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void motor::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Stop moving the DC motor. </p>
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00214">214</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">References <a class="el" href="motor_8h_source.html#l00242">_pwm_pin1</a>, and <a class="el" href="motor_8h_source.html#l00242">_pwm_pin2</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, <a class="el" href="motor_8h_source.html#l00038">motor()</a>, and <a class="el" href="motor_8h_source.html#l00188">move()</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aa8dc53ecf02031b944ef6658c2b14fde"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8dc53ecf02031b944ef6658c2b14fde">&#9670;&nbsp;</a></span>_en_pin</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t motor::_en_pin</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00242">242</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00155">disenable()</a>, <a class="el" href="motor_8h_source.html#l00146">enable()</a>, <a class="el" href="motor_8h_source.html#l00055">init_pin()</a>, and <a class="el" href="motor_8h_source.html#l00038">motor()</a>.</p>
+
+</div>
+</div>
+<a id="a0a0c29d8c7332855eba796dc9d17d516"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a0c29d8c7332855eba796dc9d17d516">&#9670;&nbsp;</a></span>_fb_pin</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t motor::_fb_pin</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00242">242</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00165">get_load()</a>, <a class="el" href="motor_8h_source.html#l00055">init_pin()</a>, and <a class="el" href="motor_8h_source.html#l00038">motor()</a>.</p>
+
+</div>
+</div>
+<a id="a7a8635dc94a8eb9a410b5dff9c658d09"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a8635dc94a8eb9a410b5dff9c658d09">&#9670;&nbsp;</a></span>_maxSpeed</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int16_t motor::_maxSpeed</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00243">243</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00038">motor()</a>, <a class="el" href="motor_8h_source.html#l00188">move()</a>, and <a class="el" href="motor_8h_source.html#l00237">set_max()</a>.</p>
+
+</div>
+</div>
+<a id="a14521e2beea4039acb94a5a20f3282ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a14521e2beea4039acb94a5a20f3282ca">&#9670;&nbsp;</a></span>_minSpeed</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int16_t motor::_minSpeed</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00243">243</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00038">motor()</a>, <a class="el" href="motor_8h_source.html#l00188">move()</a>, and <a class="el" href="motor_8h_source.html#l00226">set_min()</a>.</p>
+
+</div>
+</div>
+<a id="aad1f7bbc1a73c605947ce4a80a8019f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad1f7bbc1a73c605947ce4a80a8019f8">&#9670;&nbsp;</a></span>_pwm_pin1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t motor::_pwm_pin1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00242">242</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00055">init_pin()</a>, <a class="el" href="motor_8h_source.html#l00038">motor()</a>, <a class="el" href="motor_8h_source.html#l00188">move()</a>, and <a class="el" href="motor_8h_source.html#l00214">stop()</a>.</p>
+
+</div>
+</div>
+<a id="acc3ee3c3243453a974ca0e9f96e93bce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc3ee3c3243453a974ca0e9f96e93bce">&#9670;&nbsp;</a></span>_pwm_pin2</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t motor::_pwm_pin2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
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+<p class="definition">Definition at line <a class="el" href="motor_8h_source.html#l00242">242</a> of file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00055">init_pin()</a>, <a class="el" href="motor_8h_source.html#l00038">motor()</a>, <a class="el" href="motor_8h_source.html#l00188">move()</a>, and <a class="el" href="motor_8h_source.html#l00214">stop()</a>.</p>
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+
+<p class="reference">Referenced by <a class="el" href="motor_8h_source.html#l00176">get_fault()</a>, <a class="el" href="motor_8h_source.html#l00055">init_pin()</a>, and <a class="el" href="motor_8h_source.html#l00038">motor()</a>.</p>
+
+</div>
+</div>
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+<li>libraries/<a class="el" href="motor_8h_source.html">motor.h</a></li>
+</ul>
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+  <tr class="even"><td class="entry"><a class="el" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">_pin_dir</a></td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">_tx_time</a></td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">available</a>(void)</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">begin</a>(uint16_t baudrate)</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classrs485.html#a1a7d6743372a514e371f761d357b3bd8">end</a>()</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">flush</a>()</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(String str)</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">read</a>()</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">rs485</a>(uint8_t pin_dir, uint16_t tx_time)</td><td class="entry"><a class="el" href="classrs485.html">rs485</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
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+<title>satnogs-rotator-firmware: rs485 Class Reference</title>
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+   <div id="projectname">satnogs-rotator-firmware
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+        name="MSearchResults" id="MSearchResults">
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classrs485-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">rs485 Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with a RS485 transceiver.  
+ <a href="classrs485.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="rs485_8h_source.html">rs485.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:acd42457ff65a8979a5cdd62b64d1b905"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">rs485</a> (uint8_t pin_dir, uint16_t tx_time)</td></tr>
+<tr class="separator:acd42457ff65a8979a5cdd62b64d1b905"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab7cf3f6e3b6e6d79dc490145aa3c1b12"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">begin</a> (uint16_t baudrate)</td></tr>
+<tr class="memdesc:ab7cf3f6e3b6e6d79dc490145aa3c1b12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the RS485 transceiver.  <a href="#ab7cf3f6e3b6e6d79dc490145aa3c1b12">More...</a><br /></td></tr>
+<tr class="separator:ab7cf3f6e3b6e6d79dc490145aa3c1b12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acffe305907c9de94dda20135bc6ad93a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a> (String str)</td></tr>
+<tr class="memdesc:acffe305907c9de94dda20135bc6ad93a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print a string to RS485 bus.  <a href="#acffe305907c9de94dda20135bc6ad93a">More...</a><br /></td></tr>
+<tr class="separator:acffe305907c9de94dda20135bc6ad93a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac549517006a6b2cff970e3390ccd2c45"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">read</a> ()</td></tr>
+<tr class="memdesc:ac549517006a6b2cff970e3390ccd2c45"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a char/uint8_t from RS485 bus.  <a href="#ac549517006a6b2cff970e3390ccd2c45">More...</a><br /></td></tr>
+<tr class="separator:ac549517006a6b2cff970e3390ccd2c45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a204229ca0c3ee5d24d4c5eac9a543ef7"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">available</a> (void)</td></tr>
+<tr class="memdesc:a204229ca0c3ee5d24d4c5eac9a543ef7"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of chars/uint8_t that are available in RS485 buffer.  <a href="#a204229ca0c3ee5d24d4c5eac9a543ef7">More...</a><br /></td></tr>
+<tr class="separator:a204229ca0c3ee5d24d4c5eac9a543ef7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af02e2635ac5bb688bc9f05895a983704"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">flush</a> ()</td></tr>
+<tr class="memdesc:af02e2635ac5bb688bc9f05895a983704"><td class="mdescLeft">&#160;</td><td class="mdescRight">Waits for the transmission of outgoing serial data to complete.  <a href="#af02e2635ac5bb688bc9f05895a983704">More...</a><br /></td></tr>
+<tr class="separator:af02e2635ac5bb688bc9f05895a983704"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1a7d6743372a514e371f761d357b3bd8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#a1a7d6743372a514e371f761d357b3bd8">end</a> ()</td></tr>
+<tr class="memdesc:a1a7d6743372a514e371f761d357b3bd8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables RS485 communication.  <a href="#a1a7d6743372a514e371f761d357b3bd8">More...</a><br /></td></tr>
+<tr class="separator:a1a7d6743372a514e371f761d357b3bd8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a8a09bf5dcd2b3274220eb95c6323e2bf"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">_pin_dir</a></td></tr>
+<tr class="separator:a8a09bf5dcd2b3274220eb95c6323e2bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1b38109fc4d9cf9f98cebda6d6f2b033"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">_tx_time</a></td></tr>
+<tr class="separator:a1b38109fc4d9cf9f98cebda6d6f2b033"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with a RS485 transceiver. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pin_dir</td><td>Digital pin, to set read or write to RS485 bus </td></tr>
+    <tr><td class="paramname">tx_time</td><td>Time delay in ms in order to transmit and change the status of direction pin </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00023">23</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd42457ff65a8979a5cdd62b64d1b905"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd42457ff65a8979a5cdd62b64d1b905">&#9670;&nbsp;</a></span>rs485()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rs485::rs485 </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pin_dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>tx_time</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00026">26</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">References <a class="el" href="rs485_8h_source.html#l00096">_pin_dir</a>, and <a class="el" href="rs485_8h_source.html#l00097">_tx_time</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a204229ca0c3ee5d24d4c5eac9a543ef7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a204229ca0c3ee5d24d4c5eac9a543ef7">&#9670;&nbsp;</a></span>available()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t rs485::available </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The number of chars/uint8_t that are available in RS485 buffer. </p>
+<dl class="section return"><dt>Returns</dt><dd>A char/uint8_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00073">73</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>.</p>
+
+</div>
+</div>
+<a id="ab7cf3f6e3b6e6d79dc490145aa3c1b12"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7cf3f6e3b6e6d79dc490145aa3c1b12">&#9670;&nbsp;</a></span>begin()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void rs485::begin </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t&#160;</td>
+          <td class="paramname"><em>baudrate</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize the RS485 transceiver. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">baudrate</td><td>Set the baudrate of RS485 bus </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00038">38</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">References <a class="el" href="rs485_8h_source.html#l00096">_pin_dir</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00039">easycomm::easycomm_init()</a>.</p>
+
+</div>
+</div>
+<a id="a1a7d6743372a514e371f761d357b3bd8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a7d6743372a514e371f761d357b3bd8">&#9670;&nbsp;</a></span>end()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void rs485::end </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Disables RS485 communication. </p>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00091">91</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+</div>
+</div>
+<a id="af02e2635ac5bb688bc9f05895a983704"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af02e2635ac5bb688bc9f05895a983704">&#9670;&nbsp;</a></span>flush()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void rs485::flush </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Waits for the transmission of outgoing serial data to complete. </p>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00082">82</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>.</p>
+
+</div>
+</div>
+<a id="acffe305907c9de94dda20135bc6ad93a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acffe305907c9de94dda20135bc6ad93a">&#9670;&nbsp;</a></span>print()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void rs485::print </td>
+          <td>(</td>
+          <td class="paramtype">String&#160;</td>
+          <td class="paramname"><em>str</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Print a string to RS485 bus. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">str</td><td>A String to transmit </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00050">50</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">References <a class="el" href="rs485_8h_source.html#l00096">_pin_dir</a>, and <a class="el" href="rs485_8h_source.html#l00097">_tx_time</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>.</p>
+
+</div>
+</div>
+<a id="ac549517006a6b2cff970e3390ccd2c45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac549517006a6b2cff970e3390ccd2c45">&#9670;&nbsp;</a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t rs485::read </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Read a char/uint8_t from RS485 bus. </p>
+<dl class="section return"><dt>Returns</dt><dd>A char/uint8_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00063">63</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8a09bf5dcd2b3274220eb95c6323e2bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a09bf5dcd2b3274220eb95c6323e2bf">&#9670;&nbsp;</a></span>_pin_dir</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t rs485::_pin_dir</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00096">96</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="rs485_8h_source.html#l00038">begin()</a>, <a class="el" href="rs485_8h_source.html#l00050">print()</a>, and <a class="el" href="rs485_8h_source.html#l00026">rs485()</a>.</p>
+
+</div>
+</div>
+<a id="a1b38109fc4d9cf9f98cebda6d6f2b033"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1b38109fc4d9cf9f98cebda6d6f2b033">&#9670;&nbsp;</a></span>_tx_time</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t rs485::_tx_time</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="rs485_8h_source.html#l00097">97</a> of file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="rs485_8h_source.html#l00050">print()</a>, and <a class="el" href="rs485_8h_source.html#l00026">rs485()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>libraries/<a class="el" href="rs485_8h_source.html">rs485.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">tc74 Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classtc74.html">tc74</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classtc74.html#a9aef242072cf2021850126f6931cd577">_id</a></td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classtc74.html#a91d194f87d6153a0556ab5fd857e66ee">get_status</a>()</td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">get_temp</a>()</td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">init</a>()</td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">sleep</a>()</td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">tc74</a>(uint8_t id)</td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">wake_up</a>()</td><td class="entry"><a class="el" href="classtc74.html">tc74</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
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diff --git a/doxygen_files/html/classtc74.html b/doxygen_files/html/classtc74.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: tc74 Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classtc74-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">tc74 Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with a TC74 Temperature sensor.  
+ <a href="classtc74.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="tc74_8h_source.html">tc74.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a0adb7370c49b3f39787270357a07d12c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">tc74</a> (uint8_t id)</td></tr>
+<tr class="separator:a0adb7370c49b3f39787270357a07d12c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e9df64f45929efc9b56b4668269ffbe"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">init</a> ()</td></tr>
+<tr class="memdesc:a9e9df64f45929efc9b56b4668269ffbe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the I2C bus.  <a href="#a9e9df64f45929efc9b56b4668269ffbe">More...</a><br /></td></tr>
+<tr class="separator:a9e9df64f45929efc9b56b4668269ffbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5e923d126027ab1e7102b4a203698eb3"><td class="memItemLeft" align="right" valign="top">int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">get_temp</a> ()</td></tr>
+<tr class="memdesc:a5e923d126027ab1e7102b4a203698eb3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads the int8_t in temperature measurement register.  <a href="#a5e923d126027ab1e7102b4a203698eb3">More...</a><br /></td></tr>
+<tr class="separator:a5e923d126027ab1e7102b4a203698eb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a91d194f87d6153a0556ab5fd857e66ee"><td class="memItemLeft" align="right" valign="top">int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a91d194f87d6153a0556ab5fd857e66ee">get_status</a> ()</td></tr>
+<tr class="memdesc:a91d194f87d6153a0556ab5fd857e66ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads the int8_t in status register.  <a href="#a91d194f87d6153a0556ab5fd857e66ee">More...</a><br /></td></tr>
+<tr class="separator:a91d194f87d6153a0556ab5fd857e66ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e10af3dbd52592f902f81885dc166d2"><td class="memItemLeft" align="right" valign="top">int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">wake_up</a> ()</td></tr>
+<tr class="memdesc:a9e10af3dbd52592f902f81885dc166d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Wake up request to the sensor on the specified address.  <a href="#a9e10af3dbd52592f902f81885dc166d2">More...</a><br /></td></tr>
+<tr class="separator:a9e10af3dbd52592f902f81885dc166d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5304cfec3e2fd0955db133ae0892c734"><td class="memItemLeft" align="right" valign="top">int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">sleep</a> ()</td></tr>
+<tr class="memdesc:a5304cfec3e2fd0955db133ae0892c734"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sleep device request to the sensor on the specified address.  <a href="#a5304cfec3e2fd0955db133ae0892c734">More...</a><br /></td></tr>
+<tr class="separator:a5304cfec3e2fd0955db133ae0892c734"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a9aef242072cf2021850126f6931cd577"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtc74.html#a9aef242072cf2021850126f6931cd577">_id</a></td></tr>
+<tr class="separator:a9aef242072cf2021850126f6931cd577"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with a TC74 Temperature sensor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">id</td><td>Set the ID of temperature sensor, I2C address TC74_A0 0b10010000 TC74_A1 0b10010010 TC74_A2 0b10010100 TC74_A3 0b10010110 TC74_A4 0b10011000 TC74_A5 0b10011010 TC74_A6 0b10011100 TC74_A7 0b10011110 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00036">36</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0adb7370c49b3f39787270357a07d12c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0adb7370c49b3f39787270357a07d12c">&#9670;&nbsp;</a></span>tc74()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">tc74::tc74 </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00039">39</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">References <a class="el" href="tc74_8h_source.html#l00121">_id</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a91d194f87d6153a0556ab5fd857e66ee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91d194f87d6153a0556ab5fd857e66ee">&#9670;&nbsp;</a></span>get_status()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int8_t tc74::get_status </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reads the int8_t in status register. </p>
+<dl class="section return"><dt>Returns</dt><dd>The status register int8_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00075">75</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">References <a class="el" href="tc74_8h_source.html#l00121">_id</a>, <a class="el" href="tc74_8h_source.html#l00018">TC74_AWAKE_COMMAND</a>, and <a class="el" href="tc74_8h_source.html#l00016">TC74_CONFIGURATION_REGISTER</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="tc74_8h_source.html#l00110">sleep()</a>, and <a class="el" href="tc74_8h_source.html#l00094">wake_up()</a>.</p>
+
+</div>
+</div>
+<a id="a5e923d126027ab1e7102b4a203698eb3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e923d126027ab1e7102b4a203698eb3">&#9670;&nbsp;</a></span>get_temp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int8_t tc74::get_temp </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reads the int8_t in temperature measurement register. </p>
+<dl class="section return"><dt>Returns</dt><dd>The temperature int8_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00059">59</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">References <a class="el" href="tc74_8h_source.html#l00121">_id</a>, and <a class="el" href="tc74_8h_source.html#l00015">TC74_TEMPERATURE_REGISTER</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a9e9df64f45929efc9b56b4668269ffbe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e9df64f45929efc9b56b4668269ffbe">&#9670;&nbsp;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void tc74::init </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize the I2C bus. </p>
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00048">48</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">References <a class="el" href="as5601_8h_source.html#l00017">I2C_FREQ</a>.</p>
+
+</div>
+</div>
+<a id="a5304cfec3e2fd0955db133ae0892c734"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5304cfec3e2fd0955db133ae0892c734">&#9670;&nbsp;</a></span>sleep()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int8_t tc74::sleep </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sleep device request to the sensor on the specified address. </p>
+<dl class="section return"><dt>Returns</dt><dd>The status register int8_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00110">110</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">References <a class="el" href="tc74_8h_source.html#l00121">_id</a>, <a class="el" href="tc74_8h_source.html#l00075">get_status()</a>, <a class="el" href="tc74_8h_source.html#l00016">TC74_CONFIGURATION_REGISTER</a>, and <a class="el" href="tc74_8h_source.html#l00017">TC74_STANDBY_COMMAND</a>.</p>
+
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+<h2 class="memtitle"><span class="permalink"><a href="#a9e10af3dbd52592f902f81885dc166d2">&#9670;&nbsp;</a></span>wake_up()</h2>
+
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int8_t tc74::wake_up </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div><div class="memdoc">
+
+<p>Wake up request to the sensor on the specified address. </p>
+<dl class="section return"><dt>Returns</dt><dd>The status register int8_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00094">94</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">References <a class="el" href="tc74_8h_source.html#l00121">_id</a>, <a class="el" href="tc74_8h_source.html#l00075">get_status()</a>, <a class="el" href="tc74_8h_source.html#l00018">TC74_AWAKE_COMMAND</a>, and <a class="el" href="tc74_8h_source.html#l00016">TC74_CONFIGURATION_REGISTER</a>.</p>
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+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9aef242072cf2021850126f6931cd577"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9aef242072cf2021850126f6931cd577">&#9670;&nbsp;</a></span>_id</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int tc74::_id</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+</div><div class="memdoc">
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+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00121">121</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="tc74_8h_source.html#l00075">get_status()</a>, <a class="el" href="tc74_8h_source.html#l00059">get_temp()</a>, <a class="el" href="tc74_8h_source.html#l00110">sleep()</a>, <a class="el" href="tc74_8h_source.html#l00039">tc74()</a>, and <a class="el" href="tc74_8h_source.html#l00094">wake_up()</a>.</p>
+
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+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">satnogs-rotator-firmware
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+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
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+  <div class="headertitle">
+<div class="title">wdt_timer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classwdt__timer.html">wdt_timer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">watchdog_init</a>()</td><td class="entry"><a class="el" href="classwdt__timer.html">wdt_timer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>()</td><td class="entry"><a class="el" href="classwdt__timer.html">wdt_timer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: wdt_timer Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classwdt__timer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">wdt_timer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class that functions for interacting with a watchdog timer.  
+ <a href="classwdt__timer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="watchdog_8h_source.html">watchdog.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a4463b57c8af9b89797cb222c745c0355"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">watchdog_init</a> ()</td></tr>
+<tr class="memdesc:a4463b57c8af9b89797cb222c745c0355"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize watchdog timer to 2sec time out and to set up interrupt routine.  <a href="#a4463b57c8af9b89797cb222c745c0355">More...</a><br /></td></tr>
+<tr class="separator:a4463b57c8af9b89797cb222c745c0355"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1be743743ff4d19d726a45c2d49fbada"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a> ()</td></tr>
+<tr class="memdesc:a1be743743ff4d19d726a45c2d49fbada"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset the watchdog timer.  <a href="#a1be743743ff4d19d726a45c2d49fbada">More...</a><br /></td></tr>
+<tr class="separator:a1be743743ff4d19d726a45c2d49fbada"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class that functions for interacting with a watchdog timer. </p>
+
+<p class="definition">Definition at line <a class="el" href="watchdog_8h_source.html#l00023">23</a> of file <a class="el" href="watchdog_8h_source.html">watchdog.h</a>.</p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4463b57c8af9b89797cb222c745c0355"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4463b57c8af9b89797cb222c745c0355">&#9670;&nbsp;</a></span>watchdog_init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void wdt_timer::watchdog_init </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize watchdog timer to 2sec time out and to set up interrupt routine. </p>
+
+<p class="definition">Definition at line <a class="el" href="watchdog_8h_source.html#l00032">32</a> of file <a class="el" href="watchdog_8h_source.html">watchdog.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a1be743743ff4d19d726a45c2d49fbada"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1be743743ff4d19d726a45c2d49fbada">&#9670;&nbsp;</a></span>watchdog_reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void wdt_timer::watchdog_reset </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reset the watchdog timer. </p>
+
+<p class="definition">Definition at line <a class="el" href="watchdog_8h_source.html#l00045">45</a> of file <a class="el" href="watchdog_8h_source.html">watchdog.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>libraries/<a class="el" href="watchdog_8h_source.html">watchdog.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<a href="dc__motor__controller_2build-satnogs_2platformlibs_2Wire_2src_2utility_2twi_8c_8d.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;build-satnogs/platformlibs/Wire/src/utility/twi.c.o: \</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/libraries/Wire/src/utility/twi.c \</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/cores/arduino/Arduino.h \</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/cores/arduino/binary.h \</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/variants/eightanaloginputs/pins_arduino.h \</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/variants/eightanaloginputs/../standard/pins_arduino.h \</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/libraries/Wire/src/utility/twi.h</div></div><!-- fragment --></div><!-- contents -->
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diff --git a/doxygen_files/html/dc__motor__controller_8ino.html b/doxygen_files/html/dc__motor__controller_8ino.html
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#define-members">Macros</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">dc_motor_controller.ino File Reference</div>  </div>
+</div><!--header-->
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+<div class="textblock"><code>#include &lt;PID_v1.h&gt;</code><br />
+<code>#include &lt;Wire.h&gt;</code><br />
+<code>#include &quot;<a class="el" href="globals_8h_source.html">../libraries/globals.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="easycomm_8h_source.html">../libraries/easycomm.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="rotator__pins_8h_source.html">../libraries/rotator_pins.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="endstop_8h_source.html">../libraries/endstop.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="watchdog_8h_source.html">../libraries/watchdog.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="i2c__mux_8h_source.html">../libraries/i2c_mux.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="tc74_8h_source.html">../libraries/tc74.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="motor_8h_source.html">../libraries/motor.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="as5601_8h_source.html">../libraries/as5601.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for dc_motor_controller.ino:</div>
+<div class="dyncontent">
+<div class="center"><img src="dc__motor__controller_8ino__incl.png" border="0" usemap="#dc__motor__controller_2dc__motor__controller_8ino" alt=""/></div>
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+</div>
+<p><a href="dc__motor__controller_8ino_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:a6f6f49388c74bb24a8f63771bd997d97"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>&#160;&#160;&#160;0.1</td></tr>
+<tr class="memdesc:a6f6f49388c74bb24a8f63771bd997d97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Control loop in s.  <a href="#a6f6f49388c74bb24a8f63771bd997d97">More...</a><br /></td></tr>
+<tr class="separator:a6f6f49388c74bb24a8f63771bd997d97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7e8b3c8482e593df0ace933ad3de22ee"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">RATIO</a>&#160;&#160;&#160;54</td></tr>
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+<tr class="separator:a7e8b3c8482e593df0ace933ad3de22ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1df990f1a1fc97b95e8d53f719968026"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8507f3c11d3addead8ca0fbd55616c62"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">MIN_PWM</a>&#160;&#160;&#160;5</td></tr>
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+<tr class="separator:a8507f3c11d3addead8ca0fbd55616c62"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a962555911ea5b066ed756407100097eb"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">POSITION_DEADZONE</a>&#160;&#160;&#160;0.2</td></tr>
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+<tr class="separator:a962555911ea5b066ed756407100097eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38d90dee2ed358ec8876fd872c901708"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">PCA9540_ID</a>&#160;&#160;&#160;0x70</td></tr>
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+<tr class="separator:a38d90dee2ed358ec8876fd872c901708"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d702f8ac756be3372676abde2bba4d1"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>&#160;&#160;&#160;0x04</td></tr>
+<tr class="memdesc:a7d702f8ac756be3372676abde2bba4d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">I2C Multiplexer CHO.  <a href="#a7d702f8ac756be3372676abde2bba4d1">More...</a><br /></td></tr>
+<tr class="separator:a7d702f8ac756be3372676abde2bba4d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a474aca7989d2890727807058edc26bab"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>&#160;&#160;&#160;0x05</td></tr>
+<tr class="memdesc:a474aca7989d2890727807058edc26bab"><td class="mdescLeft">&#160;</td><td class="mdescRight">I2C Multiplexer CH1.  <a href="#a474aca7989d2890727807058edc26bab">More...</a><br /></td></tr>
+<tr class="separator:a474aca7989d2890727807058edc26bab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc66ef1790bc83e927ba7e4f3686e65c"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">TC74_ID</a>&#160;&#160;&#160;0x48</td></tr>
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+<tr class="separator:adc66ef1790bc83e927ba7e4f3686e65c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc250636bd54c7aa250dc02e87be44d3"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#adc250636bd54c7aa250dc02e87be44d3">OVER_TEMP</a>&#160;&#160;&#160;60</td></tr>
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+<tr class="separator:adc250636bd54c7aa250dc02e87be44d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4f907593fd23cbef61e6c99a4f6a781"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">ENC_RATIO</a>&#160;&#160;&#160;2</td></tr>
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+<tr class="separator:ac4f907593fd23cbef61e6c99a4f6a781"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4acc4b3e38c809c8ca4d84d5c1083cf"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">MIN_M1_ANGLE</a>&#160;&#160;&#160;0</td></tr>
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+<tr class="separator:af4acc4b3e38c809c8ca4d84d5c1083cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac81f1607c784261cee0a9759a35f18ff"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">MAX_M1_ANGLE</a>&#160;&#160;&#160;360</td></tr>
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+<tr class="separator:ac81f1607c784261cee0a9759a35f18ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a45dd8cb284dc0672f292e90909ecc530"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">MIN_M2_ANGLE</a>&#160;&#160;&#160;0</td></tr>
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+<tr class="separator:a45dd8cb284dc0672f292e90909ecc530"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:acaea33d85a46b9afdd404f6a45da8470"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aa9fdf484ccfc3264b1505135c801aadc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7fb1602dc5cc8f75b91e38ea0e8ce5bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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+<tr class="separator:acb27c796ddcae7f932e2898cba368c3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afe461d27b9c48d5921c00d521181f12f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
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+<tr class="separator:ab758c64f84e0623e98a61e37b9bdd2b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a43731445552d0e8cea4cbc7c75ba56cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a93ae915cd10983ab1234aa4a6b7910b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a60cac79aef5df2246c291f606098d33b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a961d3c110bf0dbe986c469b9b164f109"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0c0a9fc59fead4da5429a12a827f6e92"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ad7b945823a2a9518064aa22ce612fcaf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAS5601.html">AS5601</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a></td></tr>
+<tr class="separator:ad7b945823a2a9518064aa22ce612fcaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35ce9a059097bea4c32ee620078a659c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAS5601.html">AS5601</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a></td></tr>
+<tr class="separator:a35ce9a059097bea4c32ee620078a659c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa21a88a61f63525bb1db8401772e7f70"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classwdt__timer.html">wdt_timer</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a></td></tr>
+<tr class="separator:aa21a88a61f63525bb1db8401772e7f70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This is the documentation for satnogs rotator controller firmware for dc motors configuration. The board (PCB) is placed in <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller">satnogs-rotator-controller </a> and is for releases: v2.0 v2.1 v2.2 <a href="https://wiki.satnogs.org/SatNOGS_Rotator_Controller">wiki page </a></p>
+<h1><a class="anchor" id="dependencies"></a>
+Dependencies</h1>
+<p>This firmware depends on <a href="https://github.com/br3ttb/Arduino-PID-Library">Arduino-PID-Library</a> being present on your system. Please make sure you have installed the latest version before using this firmware.</p>
+<h1><a class="anchor" id="license"></a>
+License</h1>
+<p>Licensed under the GPLv3. </p>
+
+<p class="definition">Definition in file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="aa9fdf484ccfc3264b1505135c801aadc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9fdf484ccfc3264b1505135c801aadc">&#9670;&nbsp;</a></span>DEFAULT_HOME_STATE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define DEFAULT_HOME_STATE&#160;&#160;&#160;HIGH</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Change to LOW according to Home sensor. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00040">40</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="ac4f907593fd23cbef61e6c99a4f6a781"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4f907593fd23cbef61e6c99a4f6a781">&#9670;&nbsp;</a></span>ENC_RATIO</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define ENC_RATIO&#160;&#160;&#160;2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Encoder <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a> gear ratio. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00035">35</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a7fb1602dc5cc8f75b91e38ea0e8ce5bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">&#9670;&nbsp;</a></span>HOME_SPEED</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define HOME_SPEED&#160;&#160;&#160;100</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set speed to find home, duty cycle of 8-bit timer. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00041">41</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
+
+</div>
+</div>
+<a id="ac81f1607c784261cee0a9759a35f18ff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac81f1607c784261cee0a9759a35f18ff">&#9670;&nbsp;</a></span>MAX_M1_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_M1_ANGLE&#160;&#160;&#160;360</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Maximum angle of azimuth. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00037">37</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
+
+</div>
+</div>
+<a id="acaea33d85a46b9afdd404f6a45da8470"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acaea33d85a46b9afdd404f6a45da8470">&#9670;&nbsp;</a></span>MAX_M2_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_M2_ANGLE&#160;&#160;&#160;180</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Maximum angle of elevation. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00039">39</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
+
+</div>
+</div>
+<a id="a1df990f1a1fc97b95e8d53f719968026"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1df990f1a1fc97b95e8d53f719968026">&#9670;&nbsp;</a></span>MAX_PWM</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_PWM&#160;&#160;&#160;180</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set max Speed. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00027">27</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="af4acc4b3e38c809c8ca4d84d5c1083cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4acc4b3e38c809c8ca4d84d5c1083cf">&#9670;&nbsp;</a></span>MIN_M1_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MIN_M1_ANGLE&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Minimum angle of azimuth. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00036">36</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="a45dd8cb284dc0672f292e90909ecc530"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45dd8cb284dc0672f292e90909ecc530">&#9670;&nbsp;</a></span>MIN_M2_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MIN_M2_ANGLE&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Minimum angle of elevation. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00038">38</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="a8507f3c11d3addead8ca0fbd55616c62"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8507f3c11d3addead8ca0fbd55616c62">&#9670;&nbsp;</a></span>MIN_PWM</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MIN_PWM&#160;&#160;&#160;5</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set min Speed. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00028">28</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="adc250636bd54c7aa250dc02e87be44d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc250636bd54c7aa250dc02e87be44d3">&#9670;&nbsp;</a></span>OVER_TEMP</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define OVER_TEMP&#160;&#160;&#160;60</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Over temperature limit. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00034">34</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a7d702f8ac756be3372676abde2bba4d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d702f8ac756be3372676abde2bba4d1">&#9670;&nbsp;</a></span>PCA9540_CH0</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PCA9540_CH0&#160;&#160;&#160;0x04</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>I2C Multiplexer CHO. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00031">31</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a474aca7989d2890727807058edc26bab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a474aca7989d2890727807058edc26bab">&#9670;&nbsp;</a></span>PCA9540_CH1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PCA9540_CH1&#160;&#160;&#160;0x05</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>I2C Multiplexer CH1. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00032">32</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a38d90dee2ed358ec8876fd872c901708"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38d90dee2ed358ec8876fd872c901708">&#9670;&nbsp;</a></span>PCA9540_ID</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PCA9540_ID&#160;&#160;&#160;0x70</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>I2C Multiplexer ID. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00030">30</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="a962555911ea5b066ed756407100097eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a962555911ea5b066ed756407100097eb">&#9670;&nbsp;</a></span>POSITION_DEADZONE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define POSITION_DEADZONE&#160;&#160;&#160;0.2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Control dead zone. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00029">29</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a7e8b3c8482e593df0ace933ad3de22ee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e8b3c8482e593df0ace933ad3de22ee">&#9670;&nbsp;</a></span>RATIO</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define RATIO&#160;&#160;&#160;54</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gear ratio of rotator gear box. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00026">26</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="a6f6f49388c74bb24a8f63771bd997d97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f6f49388c74bb24a8f63771bd997d97">&#9670;&nbsp;</a></span>SAMPLE_TIME</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SAMPLE_TIME&#160;&#160;&#160;0.1</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Control loop in s. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00025">25</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="adc66ef1790bc83e927ba7e4f3686e65c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc66ef1790bc83e927ba7e4f3686e65c">&#9670;&nbsp;</a></span>TC74_ID</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TC74_ID&#160;&#160;&#160;0x48</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Temperature Sensor ID. </p>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00033">33</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="acb27c796ddcae7f932e2898cba368c3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb27c796ddcae7f932e2898cba368c3b">&#9670;&nbsp;</a></span>homing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> homing </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Move both axis with one direction in order to find home position, end-stop switches. </p>
+<dl class="section return"><dt>Returns</dt><dd>_rotator_error </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00214">214</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="dc__motor__controller_8ino_source.html#l00059">control_az</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00061">control_el</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00066">encoder_az</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00066">encoder_el</a>, <a class="el" href="as5601_8h_source.html#l00059">AS5601::get_pos()</a>, <a class="el" href="endstop_8h_source.html#l00045">endstop::get_state()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00041">HOME_SPEED</a>, <a class="el" href="globals_8h_source.html#l00021">homing_error</a>, <a class="el" href="as5601_8h_source.html#l00141">AS5601::init_zero()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00037">MAX_M1_ANGLE</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00039">MAX_M2_ANGLE</a>, <a class="el" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>, <a class="el" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>, <a class="el" href="motor_8h_source.html#l00188">motor::move()</a>, <a class="el" href="globals_8h_source.html#l00021">no_error</a>, <a class="el" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00031">PCA9540_CH0</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00032">PCA9540_CH1</a>, <a class="el" href="i2c__mux_8h_source.html#l00054">i2c_mux::set_channel()</a>, <a class="el" href="as5601_8h_source.html#l00129">AS5601::set_zero()</a>, <a class="el" href="motor_8h_source.html#l00214">motor::stop()</a>, <a class="el" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>, <a class="el" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>, <a class="el" href="watchdog_8h_source.html#l00045">wdt_timer::watchdog_reset()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00067">wdt</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="dc__motor__controller_8ino_acb27c796ddcae7f932e2898cba368c3b_cgraph.png" border="0" usemap="#dc__motor__controller_8ino_acb27c796ddcae7f932e2898cba368c3b_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#afe461d27b9c48d5921c00d521181f12f">&#9670;&nbsp;</a></span>loop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void loop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00105">105</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="dc__motor__controller_8ino_source.html#l00056">comm</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00059">control_az</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00061">control_el</a>, <a class="el" href="globals_8h_source.html#l00043">_rotator::control_mode</a>, <a class="el" href="motor_8h_source.html#l00155">motor::disenable()</a>, <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00066">encoder_az</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00066">encoder_el</a>, <a class="el" href="globals_8h_source.html#l00017">error</a>, <a class="el" href="globals_8h_source.html#l00047">_rotator::fault_az</a>, <a class="el" href="globals_8h_source.html#l00047">_rotator::fault_el</a>, <a class="el" href="motor_8h_source.html#l00176">motor::get_fault()</a>, <a class="el" href="as5601_8h_source.html#l00059">AS5601::get_pos()</a>, <a class="el" href="endstop_8h_source.html#l00045">endstop::get_state()</a>, <a class="el" href="tc74_8h_source.html#l00059">tc74::get_temp()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="globals_8h_source.html#l00021">homing_error</a>, <a class="el" href="globals_8h_source.html#l00044">_rotator::homing_flag</a>, <a class="el" href="globals_8h_source.html#l00017">idle</a>, <a class="el" href="globals_8h_source.html#l00045">_rotator::inside_temperature</a>, <a class="el" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>, <a class="el" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>, <a class="el" href="globals_8h_source.html#l00021">motor_error</a>, <a class="el" href="motor_8h_source.html#l00188">motor::move()</a>, <a class="el" href="globals_8h_source.html#l00017">moving</a>, <a class="el" href="globals_8h_source.html#l00021">no_error</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00034">OVER_TEMP</a>, <a class="el" href="globals_8h_source.html#l00022">over_temperature</a>, <a class="el" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00031">PCA9540_CH0</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00032">PCA9540_CH1</a>, <a class="el" href="globals_8h_source.html#l00017">pointing</a>, <a class="el" href="globals_8h_source.html#l00026">position</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00029">POSITION_DEADZONE</a>, <a class="el" href="globals_8h_source.html#l00057">rotator</a>, <a class="el" href="globals_8h_source.html#l00042">_rotator::rotator_error</a>, <a class="el" href="globals_8h_source.html#l00041">_rotator::rotator_status</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00025">SAMPLE_TIME</a>, <a class="el" href="i2c__mux_8h_source.html#l00054">i2c_mux::set_channel()</a>, <a class="el" href="tc74_8h_source.html#l00110">tc74::sleep()</a>, <a class="el" href="globals_8h_source.html#l00026">speed</a>, <a class="el" href="motor_8h_source.html#l00214">motor::stop()</a>, <a class="el" href="globals_8h_source.html#l00048">_rotator::switch_az</a>, <a class="el" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>, <a class="el" href="globals_8h_source.html#l00048">_rotator::switch_el</a>, <a class="el" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00055">t_run</a>, <a class="el" href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">temp_sensor</a>, <a class="el" href="tc74_8h_source.html#l00094">tc74::wake_up()</a>, <a class="el" href="watchdog_8h_source.html#l00045">wdt_timer::watchdog_reset()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00067">wdt</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4fc01d736fe50cf5b977f755b675f11d">&#9670;&nbsp;</a></span>setup()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void setup </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00071">71</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="dc__motor__controller_8ino_source.html#l00056">comm</a>, <a class="el" href="easycomm_8h_source.html#l00039">easycomm::easycomm_init()</a>, <a class="el" href="motor_8h_source.html#l00146">motor::enable()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00035">ENC_RATIO</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00066">encoder_az</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00066">encoder_el</a>, <a class="el" href="endstop_8h_source.html#l00035">endstop::init()</a>, <a class="el" href="i2c__mux_8h_source.html#l00042">i2c_mux::init()</a>, <a class="el" href="motor_8h_source.html#l00055">motor::init_pin()</a>, <a class="el" href="motor_8h_source.html#l00095">motor::init_timer()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00027">MAX_PWM</a>, <a class="el" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>, <a class="el" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>, <a class="el" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00025">SAMPLE_TIME</a>, <a class="el" href="as5601_8h_source.html#l00152">AS5601::set_gear_ratio()</a>, <a class="el" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>, <a class="el" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>, <a class="el" href="watchdog_8h_source.html#l00032">wdt_timer::watchdog_init()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00067">wdt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="dc__motor__controller_8ino_a4fc01d736fe50cf5b977f755b675f11d_cgraph.png" border="0" usemap="#dc__motor__controller_8ino_a4fc01d736fe50cf5b977f755b675f11d_cgraph" alt=""/></div>
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+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a43731445552d0e8cea4cbc7c75ba56cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43731445552d0e8cea4cbc7c75ba56cb">&#9670;&nbsp;</a></span>comm</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classeasycomm.html">easycomm</a> comm</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00056">56</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a7f4a4d4b871eb2a5ffbf72d413092114"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f4a4d4b871eb2a5ffbf72d413092114">&#9670;&nbsp;</a></span>control_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PID pid_az&amp; control_az</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00059">59</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a961d3c110bf0dbe986c469b9b164f109"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a961d3c110bf0dbe986c469b9b164f109">&#9670;&nbsp;</a></span>control_el</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PID pid_el&amp; control_el</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00061">61</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
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+</div>
+<a id="ad7b945823a2a9518064aa22ce612fcaf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7b945823a2a9518064aa22ce612fcaf">&#9670;&nbsp;</a></span>encoder_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classAS5601.html">AS5601</a> encoder_az</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00066">66</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
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+<a id="a35ce9a059097bea4c32ee620078a659c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35ce9a059097bea4c32ee620078a659c">&#9670;&nbsp;</a></span>encoder_el</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classAS5601.html">AS5601</a> encoder_el</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00066">66</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a93ae915cd10983ab1234aa4a6b7910b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93ae915cd10983ab1234aa4a6b7910b3">&#9670;&nbsp;</a></span>motor_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmotor.html">motor</a> motor_az(<a class="el" href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">M1IN1</a>, <a class="el" href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">M1IN2</a>, <a class="el" href="rotator__pins_8h.html#a4e12c241b5699b8487b50dbda38a2714">M1FB</a>, <a class="el" href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a>, <a class="el" href="rotator__pins_8h.html#a1bef437ea4477b69d7417946685cc582">M1SF</a>, <a class="el" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a>, <a class="el" href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">MIN_PWM</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a60cac79aef5df2246c291f606098d33b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60cac79aef5df2246c291f606098d33b">&#9670;&nbsp;</a></span>motor_el</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmotor.html">motor</a> motor_el(<a class="el" href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">M2IN1</a>, <a class="el" href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">M2IN2</a>, <a class="el" href="rotator__pins_8h.html#a756234870d4fec1dfb965e5a4ef4b5cd">M2FB</a>, <a class="el" href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a>, <a class="el" href="rotator__pins_8h.html#a84c33ece7372e98a2b47c81491a06474">M2SF</a>, <a class="el" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a>, <a class="el" href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">MIN_PWM</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a7741af4fcf4d529c3183cff30f191c5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7741af4fcf4d529c3183cff30f191c5d">&#9670;&nbsp;</a></span>pca9540</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classi2c__mux.html">i2c_mux</a> pca9540(<a class="el" href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">PCA9540_ID</a>, <a class="el" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>, <a class="el" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a0c0a9fc59fead4da5429a12a827f6e92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c0a9fc59fead4da5429a12a827f6e92">&#9670;&nbsp;</a></span>switch_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classendstop.html">endstop</a> switch_az(<a class="el" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a>, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a0886ffe9fa915cc70ac3ed7e528145d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0886ffe9fa915cc70ac3ed7e528145d9">&#9670;&nbsp;</a></span>switch_el</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classendstop.html">endstop</a> switch_el(<a class="el" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a>, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
+
+</div>
+</div>
+<a id="ab758c64f84e0623e98a61e37b9bdd2b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab758c64f84e0623e98a61e37b9bdd2b7">&#9670;&nbsp;</a></span>t_run</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t t_run = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00055">55</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a2499307ac3e6e8f80aa5c12b27668b4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2499307ac3e6e8f80aa5c12b27668b4b">&#9670;&nbsp;</a></span>temp_sensor</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classtc74.html">tc74</a> temp_sensor(<a class="el" href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">TC74_ID</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="aa21a88a61f63525bb1db8401772e7f70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa21a88a61f63525bb1db8401772e7f70">&#9670;&nbsp;</a></span>wdt</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classwdt__timer.html">wdt_timer</a> wdt</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="dc__motor__controller_8ino_source.html#l00067">67</a> of file <a class="el" href="dc__motor__controller_8ino_source.html">dc_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
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+</div>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.14
+</small></address>
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diff --git a/doxygen_files/html/dc__motor__controller_8ino_8d.html b/doxygen_files/html/dc__motor__controller_8ino_8d.html
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+<div class="title">dc_motor_controller.ino.d File Reference</div>  </div>
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diff --git a/doxygen_files/html/dc__motor__controller_8ino_8d_source.html b/doxygen_files/html/dc__motor__controller_8ino_8d_source.html
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+   <div id="projectname">satnogs-rotator-firmware
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+<!-- end header part -->
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+<a href="dc__motor__controller_8ino.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">   25</a></span>&#160;<span class="preprocessor">#define SAMPLE_TIME        0.1  </span></div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">   26</a></span>&#160;<span class="preprocessor">#define RATIO              54   </span></div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">   27</a></span>&#160;<span class="preprocessor">#define MAX_PWM            180  </span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">   28</a></span>&#160;<span class="preprocessor">#define MIN_PWM            5    </span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">   29</a></span>&#160;<span class="preprocessor">#define POSITION_DEADZONE  0.2  </span></div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">   30</a></span>&#160;<span class="preprocessor">#define PCA9540_ID         0x70 </span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">   31</a></span>&#160;<span class="preprocessor">#define PCA9540_CH0        0x04 </span></div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">   32</a></span>&#160;<span class="preprocessor">#define PCA9540_CH1        0x05 </span></div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">   33</a></span>&#160;<span class="preprocessor">#define TC74_ID            0x48 </span></div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#adc250636bd54c7aa250dc02e87be44d3">   34</a></span>&#160;<span class="preprocessor">#define OVER_TEMP          60   </span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">   35</a></span>&#160;<span class="preprocessor">#define ENC_RATIO          2    </span></div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">   36</a></span>&#160;<span class="preprocessor">#define MIN_M1_ANGLE       0    </span></div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">   37</a></span>&#160;<span class="preprocessor">#define MAX_M1_ANGLE       360  </span></div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">   38</a></span>&#160;<span class="preprocessor">#define MIN_M2_ANGLE       0    </span></div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">   39</a></span>&#160;<span class="preprocessor">#define MAX_M2_ANGLE       180  </span></div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">   40</a></span>&#160;<span class="preprocessor">#define DEFAULT_HOME_STATE HIGH </span></div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">   41</a></span>&#160;<span class="preprocessor">#define HOME_SPEED         100  </span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor"></span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;PID_v1.h&gt;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;Wire.h&gt;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &quot;../libraries/globals.h&quot;</span></div><div class="line"><a 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href="classendstop.html">endstop</a> <a class="code" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>(<a class="code" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a>, <a class="code" href="dc__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>), <a class="code" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>(<a class="code" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a>, <a class="code" href="dc__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<a class="code" href="classi2c__mux.html">i2c_mux</a> <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>(<a class="code" href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">PCA9540_ID</a>, <a class="code" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>, <a class="code" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<a class="code" href="classtc74.html">tc74</a> <a class="code" href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">temp_sensor</a>(<a class="code" href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">TC74_ID</a>);</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">   66</a></span>&#160;<a class="code" href="classAS5601.html">AS5601</a> <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>, <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">   67</a></span>&#160;<a class="code" href="classwdt__timer.html">wdt_timer</a> <a class="code" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">enum</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> <a class="code" href="dc__motor__controller_8ino.html#acb27c796ddcae7f932e2898cba368c3b">homing</a>();</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">   71</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="dc__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">setup</a>() {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// Homing switch</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>.<a class="code" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a>();</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>.<a class="code" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a>();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// Serial Communication</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a>.<a class="code" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm_init</a>();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// Initialize DC motors</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">init_pin</a>();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">init_timer</a>(1, 8);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">enable</a>();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">init_pin</a>();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">init_timer</a>(2, 8);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">enable</a>();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">// Initialize I2C MUX</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">init</a>();</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="comment">// Initialize rotary encoders</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>.<a class="code" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">set_gear_ratio</a>(<a class="code" href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">ENC_RATIO</a>);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>.<a class="code" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">set_gear_ratio</a>(<a class="code" href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">ENC_RATIO</a>);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="comment">// Initialize control parameters</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    pid_az.SetSampleTime(<a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    pid_az.SetOutputLimits(-<a class="code" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a>, <a class="code" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a> );</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    pid_az.SetMode(AUTOMATIC);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    pid_el.SetSampleTime(<a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    pid_el.SetOutputLimits(-<a class="code" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a>, <a class="code" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    pid_el.SetMode(AUTOMATIC);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">// Initialize WDT</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">watchdog_init</a>();</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">  105</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="dc__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">loop</a>() {</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">// Update WDT</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">// Get end stop status</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a> = <a class="code" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>();</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a> = <a class="code" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>();</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">// Run easycomm implementation</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a>.<a class="code" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm_proc</a>();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">// Get Motor driver status</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">fault_az</a> = <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">get_fault</a>();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">fault_el</a> = <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">get_fault</a>();</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">fault_az</a> == LOW || <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">fault_el</a> == LOW) {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af">motor_error</a>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="comment">// Get inside Temperature</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">temp_sensor</a>.<a class="code" href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">wake_up</a>();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a> = <a class="code" href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">temp_sensor</a>.<a class="code" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">get_temp</a>();</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">temp_sensor</a>.<a class="code" href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">sleep</a>();</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a> &gt; <a class="code" href="dc__motor__controller_8ino.html#adc250636bd54c7aa250dc02e87be44d3">OVER_TEMP</a>) {</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a>;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca">over_temperature</a>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Get position of both axis</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>.<a class="code" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a>(&amp;<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input);</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>.<a class="code" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a>(&amp;<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input);</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">// Check rotator status</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> != <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a>) {</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a> == <span class="keyword">false</span>) {</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="comment">// Check home flag</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="comment">// Homing</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="dc__motor__controller_8ino.html#acb27c796ddcae7f932e2898cba368c3b">homing</a>();</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> == <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>) {</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                <span class="comment">// No error</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                <span class="comment">// Error</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            <span class="comment">// Control Loop</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <span class="keywordflow">if</span> (millis() - <a class="code" href="dc__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">t_run</a> &gt; <a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a> * 1000) {</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                <span class="comment">// Update control gains</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                pid_az.SetTunings(<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.p, <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.i, <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.d);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                pid_el.SetTunings(<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.p, <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.i, <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.d);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> ==  <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>) {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                    <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.setpoint += <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.setpoint_speed</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                           * <a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.setpoint += <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.setpoint_speed</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                                           * <a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf">moving</a>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">pointing</a>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                <span class="comment">// Move azimuth and elevation motors</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                pid_az.Compute();</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.u);</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                pid_el.Compute();</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.u);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                <span class="comment">// Calculate the speeds of both axis</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.speed = (<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input - <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input_prv)</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                                   / <a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input_prv = <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.speed = (<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input - <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input_prv)</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                                   / <a class="code" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input_prv = <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                <span class="comment">// Update the run time</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                <a class="code" href="dc__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">t_run</a> = millis();</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                <span class="comment">// Idle rotator, dead-band</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                <span class="keywordflow">if</span> ((abs(<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.setpoint - <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input) &lt;=</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                    <a class="code" href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">POSITION_DEADZONE</a> || (<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.speed == 0)) &amp;&amp;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                    (abs(<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.setpoint - <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input) &lt;=</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                    <a class="code" href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">POSITION_DEADZONE</a> || (<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.speed == 0))) {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            }</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="comment">// Error handler, stop motors and disable the motor driver</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">disenable</a>();</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">disenable</a>();</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> != <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a>) {</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <span class="comment">// Reset error according to error value</span></div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="dc__motor__controller_8ino.html#acb27c796ddcae7f932e2898cba368c3b">  214</a></span>&#160;<span class="keyword">enum</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> <a class="code" href="dc__motor__controller_8ino.html#acb27c796ddcae7f932e2898cba368c3b">homing</a>() {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordtype">bool</span> isHome_az = <span class="keyword">false</span>;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">bool</span> isHome_el = <span class="keyword">false</span>;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="comment">// Reses position</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>.<a class="code" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a>();</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>);</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>.<a class="code" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a>();</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">// Move motors with ~constant speed</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(-<a class="code" href="dc__motor__controller_8ino.html#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">HOME_SPEED</a>);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(-<a class="code" href="dc__motor__controller_8ino.html#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">HOME_SPEED</a>);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="comment">// Homing loop</span></div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">while</span> (isHome_az == <span class="keyword">false</span> || isHome_el == <span class="keyword">false</span>) {</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="comment">// Update WDT</span></div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>();</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>() == <span class="keyword">true</span> &amp;&amp; !isHome_az) {</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            <span class="comment">// Find azimuth home</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            <a class="code" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a>.<a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            isHome_az = <span class="keyword">true</span>;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        }</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>() == <span class="keyword">true</span> &amp;&amp; !isHome_el) {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            <span class="comment">// Find elevation home</span></div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <a class="code" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a>.<a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            isHome_el = <span class="keyword">true</span>;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        }</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="comment">// Get current position</span></div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>);</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>.<a class="code" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a>(&amp;<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input);</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>.<a class="code" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a>(&amp;<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input);</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="comment">// Check if the rotator goes out of limits or something goes wrong (in</span></div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <span class="comment">// mechanical)</span></div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keywordflow">if</span> ((abs(<a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.input) &gt; <a class="code" href="dc__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">MAX_M1_ANGLE</a> &amp;&amp; !isHome_az)</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;         || (abs(<a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.input) &gt; <a class="code" href="dc__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">MAX_M2_ANGLE</a> &amp;&amp; !isHome_el)) {</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a>;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        }</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    }</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="comment">// Set the home position and reset all critical control variables</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a>);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>.<a class="code" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">init_zero</a>();</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a>.<a class="code" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a>();</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a>.setpoint = 0;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a>.<a class="code" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">set_channel</a>(<a class="code" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a>);</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>.<a class="code" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">init_zero</a>();</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a>.<a class="code" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a>();</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <a class="code" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a>.setpoint = 0;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;}</div><div class="ttc" id="dc__motor__controller_8ino_html_ac4f907593fd23cbef61e6c99a4f6a781"><div class="ttname"><a href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">ENC_RATIO</a></div><div class="ttdeci">#define ENC_RATIO</div><div class="ttdoc">Encoder AS5601 gear ratio. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00035">dc_motor_controller.ino:35</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_ad98a4599f8bbf48bb5b425ce5edb5a42"><div class="ttname"><a href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a></div><div class="ttdeci">#define SW1</div><div class="ttdoc">Digital input, to read the status of end-stop for motor 1. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00025">rotator_pins.h:25</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_ad7b945823a2a9518064aa22ce612fcaf"><div class="ttname"><a href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">encoder_az</a></div><div class="ttdeci">AS5601 encoder_az</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00066">dc_motor_controller.ino:66</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a4e12c241b5699b8487b50dbda38a2714"><div class="ttname"><a href="rotator__pins_8h.html#a4e12c241b5699b8487b50dbda38a2714">M1FB</a></div><div class="ttdeci">#define M1FB</div><div class="ttdoc">Motor 1 analog input, current/load feedback. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00016">rotator_pins.h:16</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a7fb1602dc5cc8f75b91e38ea0e8ce5bd"><div class="ttname"><a href="dc__motor__controller_8ino.html#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">HOME_SPEED</a></div><div class="ttdeci">#define HOME_SPEED</div><div class="ttdoc">Set speed to find home, duty cycle of 8-bit timer. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00041">dc_motor_controller.ino:41</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_ad43a98121cb04032302978a3319ba24e"><div class="ttname"><a href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">M2IN1</a></div><div class="ttdeci">#define M2IN1</div><div class="ttdoc">Motor 2 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00018">rotator_pins.h:18</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a1f7e92e76bed5849fc1edc2e42c995dc"><div class="ttname"><a href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">M2IN2</a></div><div class="ttdeci">#define M2IN2</div><div class="ttdoc">Motor 2 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00019">rotator_pins.h:19</a></div></div>
+<div class="ttc" id="classAS5601_html_aeb9eb168d26d44261dc37d4ca54ae24f"><div class="ttname"><a href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">AS5601::set_gear_ratio</a></div><div class="ttdeci">void set_gear_ratio(uint8_t enc_ratio)</div><div class="ttdoc">Set the gear ratio between encoder and measure axis. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00152">as5601.h:152</a></div></div>
+<div class="ttc" id="classwdt__timer_html"><div class="ttname"><a href="classwdt__timer.html">wdt_timer</a></div><div class="ttdoc">Class that functions for interacting with a watchdog timer. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00023">watchdog.h:23</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="classmotor_html_abee35525f6340b3a8118e8711a6033b4"><div class="ttname"><a href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">motor::enable</a></div><div class="ttdeci">void enable()</div><div class="ttdoc">Enable motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00146">motor.h:146</a></div></div>
+<div class="ttc" id="classtc74_html_a5304cfec3e2fd0955db133ae0892c734"><div class="ttname"><a href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">tc74::sleep</a></div><div class="ttdeci">int8_t sleep()</div><div class="ttdoc">Sleep device request to the sensor on the specified address. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00110">tc74.h:110</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af">motor_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">pointing</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="classi2c__mux_html_af4a7327c09d2f0ea8ee5a5797871e876"><div class="ttname"><a href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">i2c_mux::set_channel</a></div><div class="ttdeci">void set_channel(uint8_t ch)</div><div class="ttdoc">Change the channel. </div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00054">i2c_mux.h:54</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a60cac79aef5df2246c291f606098d33b"><div class="ttname"><a href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">motor_el</a></div><div class="ttdeci">motor motor_el(M2IN1, M2IN2, M2FB, MOTOR_EN, M2SF, MAX_PWM, MIN_PWM)</div></div>
+<div class="ttc" id="classeasycomm_html_a68c229f5c44074fae9992ec9ea605046"><div class="ttname"><a href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm::easycomm_proc</a></div><div class="ttdeci">void easycomm_proc()</div><div class="ttdoc">Get the commands from RS485 and response to the client. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00048">easycomm.h:48</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a30b8dc781a6fe8ee7745feac552cb858"><div class="ttname"><a href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a></div><div class="ttdeci">#define MOTOR_EN</div><div class="ttdoc">Digital output, to enable the motors. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00023">rotator_pins.h:23</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a7d702f8ac756be3372676abde2bba4d1"><div class="ttname"><a href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">PCA9540_CH0</a></div><div class="ttdeci">#define PCA9540_CH0</div><div class="ttdoc">I2C Multiplexer CHO. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00031">dc_motor_controller.ino:31</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a961d3c110bf0dbe986c469b9b164f109"><div class="ttname"><a href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">control_el</a></div><div class="ttdeci">PID pid_el &amp; control_el</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00061">dc_motor_controller.ino:61</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca">over_temperature</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00022">globals.h:22</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a38d90dee2ed358ec8876fd872c901708"><div class="ttname"><a href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">PCA9540_ID</a></div><div class="ttdeci">#define PCA9540_ID</div><div class="ttdoc">I2C Multiplexer ID. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00030">dc_motor_controller.ino:30</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a7741af4fcf4d529c3183cff30f191c5d"><div class="ttname"><a href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">pca9540</a></div><div class="ttdeci">i2c_mux pca9540(PCA9540_ID, PCA9540_CH0, PCA9540_CH1)</div></div>
+<div class="ttc" id="classi2c__mux_html"><div class="ttname"><a href="classi2c__mux.html">i2c_mux</a></div><div class="ttdoc">Class that functions for interacting with I2C 1-of-2 multiplexer. </div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00028">i2c_mux.h:28</a></div></div>
+<div class="ttc" id="classendstop_html_a6d24d7ed95ded92431288da42a6aebf9"><div class="ttname"><a href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">endstop::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialize the Input pin for end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00035">endstop.h:35</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_aa21a88a61f63525bb1db8401772e7f70"><div class="ttname"><a href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a></div><div class="ttdeci">wdt_timer wdt</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00067">dc_motor_controller.ino:67</a></div></div>
+<div class="ttc" id="struct__rotator_html_a5626b9e27ffdef0f5f8851ebb5a27812"><div class="ttname"><a href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator::switch_az</a></div><div class="ttdeci">bool switch_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a0886ffe9fa915cc70ac3ed7e528145d9"><div class="ttname"><a href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a></div><div class="ttdeci">endstop switch_el(SW2, DEFAULT_HOME_STATE)</div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a474aca7989d2890727807058edc26bab"><div class="ttname"><a href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">PCA9540_CH1</a></div><div class="ttdeci">#define PCA9540_CH1</div><div class="ttdoc">I2C Multiplexer CH1. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00032">dc_motor_controller.ino:32</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a2499307ac3e6e8f80aa5c12b27668b4b"><div class="ttname"><a href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">temp_sensor</a></div><div class="ttdeci">tc74 temp_sensor(TC74_ID)</div></div>
+<div class="ttc" id="globals_8h_html_addd34cf12b8ad4e4eb65097b7c950dc4"><div class="ttname"><a href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></div><div class="ttdeci">_rotator rotator</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00057">globals.h:57</a></div></div>
+<div class="ttc" id="classendstop_html"><div class="ttname"><a href="classendstop.html">endstop</a></div><div class="ttdoc">Class that functions for interacting with end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00022">endstop.h:22</a></div></div>
+<div class="ttc" id="struct__rotator_html_ad7f5a96e0a6675c3471670c927bbae49"><div class="ttname"><a href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator::rotator_status</a></div><div class="ttdeci">enum _rotator_status rotator_status</div><div class="ttdoc">Rotator status. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00041">globals.h:41</a></div></div>
+<div class="ttc" id="struct__rotator_html_a169bb52a1b00c2506bf7979aae6bab12"><div class="ttname"><a href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator::rotator_error</a></div><div class="ttdeci">enum _rotator_error rotator_error</div><div class="ttdoc">Rotator error. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00042">globals.h:42</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_ab758c64f84e0623e98a61e37b9bdd2b7"><div class="ttname"><a href="dc__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">t_run</a></div><div class="ttdeci">uint32_t t_run</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00055">dc_motor_controller.ino:55</a></div></div>
+<div class="ttc" id="struct__rotator_html_a88068d1cd476b7a52bbc400c77e81d9a"><div class="ttname"><a href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator::switch_el</a></div><div class="ttdeci">bool switch_el</div><div class="ttdoc">End-stop vales. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_ac81f1607c784261cee0a9759a35f18ff"><div class="ttname"><a href="dc__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">MAX_M1_ANGLE</a></div><div class="ttdeci">#define MAX_M1_ANGLE</div><div class="ttdoc">Maximum angle of azimuth. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00037">dc_motor_controller.ino:37</a></div></div>
+<div class="ttc" id="classAS5601_html_af760a7dd400974baf9daebad22920bdb"><div class="ttname"><a href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">AS5601::set_zero</a></div><div class="ttdeci">uint8_t set_zero()</div><div class="ttdoc">Set zero by setting offset angle. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00129">as5601.h:129</a></div></div>
+<div class="ttc" id="classtc74_html"><div class="ttname"><a href="classtc74.html">tc74</a></div><div class="ttdoc">Class that functions for interacting with a TC74 Temperature sensor. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00036">tc74.h:36</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a6f6f49388c74bb24a8f63771bd997d97"><div class="ttname"><a href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a></div><div class="ttdeci">#define SAMPLE_TIME</div><div class="ttdoc">Control loop in s. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00025">dc_motor_controller.ino:25</a></div></div>
+<div class="ttc" id="classtc74_html_a9e10af3dbd52592f902f81885dc166d2"><div class="ttname"><a href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">tc74::wake_up</a></div><div class="ttdeci">int8_t wake_up()</div><div class="ttdoc">Wake up request to the sensor on the specified address. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00094">tc74.h:94</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_adc250636bd54c7aa250dc02e87be44d3"><div class="ttname"><a href="dc__motor__controller_8ino.html#adc250636bd54c7aa250dc02e87be44d3">OVER_TEMP</a></div><div class="ttdeci">#define OVER_TEMP</div><div class="ttdoc">Over temperature limit. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00034">dc_motor_controller.ino:34</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a84c33ece7372e98a2b47c81491a06474"><div class="ttname"><a href="rotator__pins_8h.html#a84c33ece7372e98a2b47c81491a06474">M2SF</a></div><div class="ttdeci">#define M2SF</div><div class="ttdoc">Motor 2 digital input, status flag. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00020">rotator_pins.h:20</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a35ce9a059097bea4c32ee620078a659c"><div class="ttname"><a href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">encoder_el</a></div><div class="ttdeci">AS5601 encoder_el</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00066">dc_motor_controller.ino:66</a></div></div>
+<div class="ttc" id="classAS5601_html"><div class="ttname"><a href="classAS5601.html">AS5601</a></div><div class="ttdoc">Class that functions for interacting with AS5601 magnetic rotary position sensor. ...</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00035">as5601.h:35</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="classtc74_html_a5e923d126027ab1e7102b4a203698eb3"><div class="ttname"><a href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">tc74::get_temp</a></div><div class="ttdeci">int8_t get_temp()</div><div class="ttdoc">Reads the int8_t in temperature measurement register. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00059">tc74.h:59</a></div></div>
+<div class="ttc" id="struct__rotator_html_a1bfde08392f85de45463f69b77c8120d"><div class="ttname"><a href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">_rotator::inside_temperature</a></div><div class="ttdeci">int8_t inside_temperature</div><div class="ttdoc">Inside Temperature. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00045">globals.h:45</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a52eb32b92f0d0d1fdfc59a83e22d389d"><div class="ttname"><a href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">M1IN1</a></div><div class="ttdeci">#define M1IN1</div><div class="ttdoc">Motor 1 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00013">rotator_pins.h:13</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a1bef437ea4477b69d7417946685cc582"><div class="ttname"><a href="rotator__pins_8h.html#a1bef437ea4477b69d7417946685cc582">M1SF</a></div><div class="ttdeci">#define M1SF</div><div class="ttdoc">Motor 1 digital input, status flag. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00015">rotator_pins.h:15</a></div></div>
+<div class="ttc" id="classwdt__timer_html_a1be743743ff4d19d726a45c2d49fbada"><div class="ttname"><a href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">wdt_timer::watchdog_reset</a></div><div class="ttdeci">void watchdog_reset()</div><div class="ttdoc">Reset the watchdog timer. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00045">watchdog.h:45</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a43731445552d0e8cea4cbc7c75ba56cb"><div class="ttname"><a href="dc__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a></div><div class="ttdeci">easycomm comm</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00056">dc_motor_controller.ino:56</a></div></div>
+<div class="ttc" id="classmotor_html_a9395e462f009a775c5fbe11f4c39150c"><div class="ttname"><a href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">motor::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdoc">Stop moving the DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00214">motor.h:214</a></div></div>
+<div class="ttc" id="struct__rotator_html_a5aee46515ac7930a9ae114b9c9c01d8c"><div class="ttname"><a href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">_rotator::fault_az</a></div><div class="ttdeci">uint8_t fault_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00047">globals.h:47</a></div></div>
+<div class="ttc" id="classmotor_html_a1aa585ea14305952469f95cb26f3ad2f"><div class="ttname"><a href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">motor::init_timer</a></div><div class="ttdeci">void init_timer(uint8_t timer, uint16_t divisor)</div><div class="ttdoc">Set timer frequency, for timers 0, 1, 2. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00095">motor.h:95</a></div></div>
+<div class="ttc" id="classeasycomm_html_a7db30a0f3a754dc281cbedab461d76f6"><div class="ttname"><a href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm::easycomm_init</a></div><div class="ttdeci">void easycomm_init()</div><div class="ttdoc">Initialize the RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00039">easycomm.h:39</a></div></div>
+<div class="ttc" id="classmotor_html_a7c7a40ef8985fae55eda9b9254d760a7"><div class="ttname"><a href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">motor::init_pin</a></div><div class="ttdeci">void init_pin()</div><div class="ttdoc">Initialize pins of DC motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00055">motor.h:55</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a157fe9dc9b50d6f912b57b3422848700"><div class="ttname"><a href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">M1IN2</a></div><div class="ttdeci">#define M1IN2</div><div class="ttdoc">Motor 1 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00014">rotator_pins.h:14</a></div></div>
+<div class="ttc" id="classAS5601_html_a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><div class="ttname"><a href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">AS5601::get_pos</a></div><div class="ttdeci">uint8_t get_pos(double *new_pos)</div><div class="ttdoc">Calculate an unwrap the position. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00059">as5601.h:59</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_acb27c796ddcae7f932e2898cba368c3b"><div class="ttname"><a href="dc__motor__controller_8ino.html#acb27c796ddcae7f932e2898cba368c3b">homing</a></div><div class="ttdeci">enum _rotator_error homing()</div><div class="ttdoc">Move both axis with one direction in order to find home position, end-stop switches. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00214">dc_motor_controller.ino:214</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_adc66ef1790bc83e927ba7e4f3686e65c"><div class="ttname"><a href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">TC74_ID</a></div><div class="ttdeci">#define TC74_ID</div><div class="ttdoc">Temperature Sensor ID. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00033">dc_motor_controller.ino:33</a></div></div>
+<div class="ttc" id="classi2c__mux_html_a297c753f7c9fd03b7a6be09a7d3bd87a"><div class="ttname"><a href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">i2c_mux::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialize the I2C bus. </div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00042">i2c_mux.h:42</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a7f4a4d4b871eb2a5ffbf72d413092114"><div class="ttname"><a href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">control_az</a></div><div class="ttdeci">PID pid_az &amp; control_az</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00059">dc_motor_controller.ino:59</a></div></div>
+<div class="ttc" id="classmotor_html_ae21d592f52c6aa57a641ca3e99cf52b9"><div class="ttname"><a href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">motor::disenable</a></div><div class="ttdeci">void disenable()</div><div class="ttdoc">Disable motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00155">motor.h:155</a></div></div>
+<div class="ttc" id="struct__rotator_html_adf96afc711bf7075748f043b1b656311"><div class="ttname"><a href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">_rotator::homing_flag</a></div><div class="ttdeci">bool homing_flag</div><div class="ttdoc">Homing flag. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00044">globals.h:44</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_acaea33d85a46b9afdd404f6a45da8470"><div class="ttname"><a href="dc__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">MAX_M2_ANGLE</a></div><div class="ttdeci">#define MAX_M2_ANGLE</div><div class="ttdoc">Maximum angle of elevation. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00039">dc_motor_controller.ino:39</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_afe461d27b9c48d5921c00d521181f12f"><div class="ttname"><a href="dc__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">loop</a></div><div class="ttdeci">void loop()</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00105">dc_motor_controller.ino:105</a></div></div>
+<div class="ttc" id="struct__rotator_html_ac2e58e190516589323db0255129cfe96"><div class="ttname"><a href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">_rotator::fault_el</a></div><div class="ttdeci">uint8_t fault_el</div><div class="ttdoc">Motor drivers fault flag. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00047">globals.h:47</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a4fc01d736fe50cf5b977f755b675f11d"><div class="ttname"><a href="dc__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">setup</a></div><div class="ttdeci">void setup()</div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00071">dc_motor_controller.ino:71</a></div></div>
+<div class="ttc" id="classmotor_html"><div class="ttname"><a href="classmotor.html">motor</a></div><div class="ttdoc">Class that functions for interacting with a Motor Driver Carrier. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00035">motor.h:35</a></div></div>
+<div class="ttc" id="classwdt__timer_html_a4463b57c8af9b89797cb222c745c0355"><div class="ttname"><a href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">wdt_timer::watchdog_init</a></div><div class="ttdeci">void watchdog_init()</div><div class="ttdoc">Initialize watchdog timer to 2sec time out and to set up interrupt routine. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00032">watchdog.h:32</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a756234870d4fec1dfb965e5a4ef4b5cd"><div class="ttname"><a href="rotator__pins_8h.html#a756234870d4fec1dfb965e5a4ef4b5cd">M2FB</a></div><div class="ttdeci">#define M2FB</div><div class="ttdoc">Motor 2 analog input, current/load feedback. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00021">rotator_pins.h:21</a></div></div>
+<div class="ttc" id="struct__rotator_html_a86308cdfcd35e4a153476bf09869a981"><div class="ttname"><a href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">_rotator::control_mode</a></div><div class="ttdeci">enum _control_mode control_mode</div><div class="ttdoc">Control mode. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00043">globals.h:43</a></div></div>
+<div class="ttc" id="classmotor_html_a3fb941091e69025a6ed7b66b2458b302"><div class="ttname"><a href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">motor::get_fault</a></div><div class="ttdeci">uint8_t get_fault()</div><div class="ttdoc">Get the status flag of motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00176">motor.h:176</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a8507f3c11d3addead8ca0fbd55616c62"><div class="ttname"><a href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">MIN_PWM</a></div><div class="ttdeci">#define MIN_PWM</div><div class="ttdoc">Set min Speed. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00028">dc_motor_controller.ino:28</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a93ae915cd10983ab1234aa4a6b7910b3"><div class="ttname"><a href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">motor_az</a></div><div class="ttdeci">motor motor_az(M1IN1, M1IN2, M1FB, MOTOR_EN, M1SF, MAX_PWM, MIN_PWM)</div></div>
+<div class="ttc" id="rotator__pins_8h_html_a276a7c4ba0f813d53715e2ec2595d906"><div class="ttname"><a href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a></div><div class="ttdeci">#define SW2</div><div class="ttdoc">Digital input, to read the status of end-stop for motor 2. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00026">rotator_pins.h:26</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf">moving</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="classeasycomm_html"><div class="ttname"><a href="classeasycomm.html">easycomm</a></div><div class="ttdoc">Class that functions for easycomm 3 implementation. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00031">easycomm.h:31</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a1df990f1a1fc97b95e8d53f719968026"><div class="ttname"><a href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">MAX_PWM</a></div><div class="ttdeci">#define MAX_PWM</div><div class="ttdoc">Set max Speed. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00027">dc_motor_controller.ino:27</a></div></div>
+<div class="ttc" id="classmotor_html_a01f848ad7e9ff16b4cb61174d3a5a084"><div class="ttname"><a href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">motor::move</a></div><div class="ttdeci">void move(int16_t speed)</div><div class="ttdoc">Move the DC motor with constant voltage (~speed) </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00188">motor.h:188</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a962555911ea5b066ed756407100097eb"><div class="ttname"><a href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">POSITION_DEADZONE</a></div><div class="ttdeci">#define POSITION_DEADZONE</div><div class="ttdoc">Control dead zone. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00029">dc_motor_controller.ino:29</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_a0c0a9fc59fead4da5429a12a827f6e92"><div class="ttname"><a href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a></div><div class="ttdeci">endstop switch_az(SW1, DEFAULT_HOME_STATE)</div></div>
+<div class="ttc" id="dc__motor__controller_8ino_html_aa9fdf484ccfc3264b1505135c801aadc"><div class="ttname"><a href="dc__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a></div><div class="ttdeci">#define DEFAULT_HOME_STATE</div><div class="ttdoc">Change to LOW according to Home sensor. </div><div class="ttdef"><b>Definition:</b> <a href="dc__motor__controller_8ino_source.html#l00040">dc_motor_controller.ino:40</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a></div><div class="ttdeci">_rotator_error</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00020">globals.h:20</a></div></div>
+<div class="ttc" id="classAS5601_html_a865a4971a787bbdb9ff64fd31e2eb348"><div class="ttname"><a href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">AS5601::init_zero</a></div><div class="ttdeci">void init_zero()</div><div class="ttdoc">Reset zero position set the offset to zero. </div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00141">as5601.h:141</a></div></div>
+<div class="ttc" id="classendstop_html_a530a60aaf81bd5022e56df71c194dfbc"><div class="ttname"><a href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">endstop::get_state</a></div><div class="ttdeci">bool get_state()</div><div class="ttdoc">Get the state of end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00045">endstop.h:45</a></div></div>
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+   <div id="projectname">satnogs-rotator-firmware
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+<h3>dc_motor_controller &rarr; libraries Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in dc_motor_controller</th><th class="dirtab">Includes file in libraries</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="as5601_8h.html">as5601.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="easycomm_8h.html">easycomm.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="endstop_8h.html">endstop.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="globals_8h.html">globals.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="i2c__mux_8h.html">i2c_mux.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="motor_8h.html">motor.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="rotator__pins_8h.html">rotator_pins.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="tc74_8h.html">tc74.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dc__motor__controller_8ino.html">dc_motor_controller.ino</a></td><td class="dirtab"><a class="el" href="watchdog_8h.html">watchdog.h</a></td></tr></table></div><!-- contents -->
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+
+body, table, div, p, dl {
+	font: 400 14px/22px Roboto,sans-serif;
+}
+
+p.reference, p.definition {
+	font: 400 14px/22px Roboto,sans-serif;
+}
+
+/* @group Heading Levels */
+
+h1.groupheader {
+	font-size: 150%;
+}
+
+.title {
+	font: 400 14px/28px Roboto,sans-serif;
+	font-size: 150%;
+	font-weight: bold;
+	margin: 10px 2px;
+}
+
+h2.groupheader {
+	border-bottom: 1px solid #879ECB;
+	color: #354C7B;
+	font-size: 150%;
+	font-weight: normal;
+	margin-top: 1.75em;
+	padding-top: 8px;
+	padding-bottom: 4px;
+	width: 100%;
+}
+
+h3.groupheader {
+	font-size: 100%;
+}
+
+h1, h2, h3, h4, h5, h6 {
+	-webkit-transition: text-shadow 0.5s linear;
+	-moz-transition: text-shadow 0.5s linear;
+	-ms-transition: text-shadow 0.5s linear;
+	-o-transition: text-shadow 0.5s linear;
+	transition: text-shadow 0.5s linear;
+	margin-right: 15px;
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px cyan;
+}
+
+dt {
+	font-weight: bold;
+}
+
+div.multicol {
+	-moz-column-gap: 1em;
+	-webkit-column-gap: 1em;
+	-moz-column-count: 3;
+	-webkit-column-count: 3;
+}
+
+p.startli, p.startdd {
+	margin-top: 2px;
+}
+
+p.starttd {
+	margin-top: 0px;
+}
+
+p.endli {
+	margin-bottom: 0px;
+}
+
+p.enddd {
+	margin-bottom: 4px;
+}
+
+p.endtd {
+	margin-bottom: 2px;
+}
+
+/* @end */
+
+caption {
+	font-weight: bold;
+}
+
+span.legend {
+        font-size: 70%;
+        text-align: center;
+}
+
+h3.version {
+        font-size: 90%;
+        text-align: center;
+}
+
+div.qindex, div.navtab{
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+}
+
+div.qindex, div.navpath {
+	width: 100%;
+	line-height: 140%;
+}
+
+div.navtab {
+	margin-right: 15px;
+}
+
+/* @group Link Styling */
+
+a {
+	color: #3D578C;
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: #4665A2;
+}
+
+a:hover {
+	text-decoration: underline;
+}
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+a.qindex {
+	font-weight: bold;
+}
+
+a.qindexHL {
+	font-weight: bold;
+	background-color: #9CAFD4;
+	color: #ffffff;
+	border: 1px double #869DCA;
+}
+
+.contents a.qindexHL:visited {
+        color: #ffffff;
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: #4665A2; 
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: #4665A2; 
+}
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+pre.fragment {
+        border: 1px solid #C4CFE5;
+        background-color: #FBFCFD;
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+        overflow: auto;
+        word-wrap: break-word;
+        font-size:  9pt;
+        line-height: 125%;
+        font-family: monospace, fixed;
+        font-size: 105%;
+}
+
+div.fragment {
+        padding: 0px;
+        margin: 4px 8px 4px 2px;
+	background-color: #FBFCFD;
+	border: 1px solid #C4CFE5;
+}
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+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.0;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: cyan;
+	box-shadow: 0 0 10px cyan;
+}
+
+
+span.lineno {
+	padding-right: 4px;
+	text-align: right;
+	border-right: 2px solid #0F0;
+	background-color: #E8E8E8;
+        white-space: pre;
+}
+span.lineno a {
+	background-color: #D8D8D8;
+}
+
+span.lineno a:hover {
+	background-color: #C8C8C8;
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.ah, span.ah {
+	background-color: black;
+	font-weight: bold;
+	color: #ffffff;
+	margin-bottom: 3px;
+	margin-top: 3px;
+	padding: 0.2em;
+	border: solid thin #333;
+	border-radius: 0.5em;
+	-webkit-border-radius: .5em;
+	-moz-border-radius: .5em;
+	box-shadow: 2px 2px 3px #999;
+	-webkit-box-shadow: 2px 2px 3px #999;
+	-moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+	background-image: -webkit-gradient(linear, left top, left bottom, from(#eee), to(#000),color-stop(0.3, #444));
+	background-image: -moz-linear-gradient(center top, #eee 0%, #444 40%, #000 110%);
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	background-color: white;
+	color: black;
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+td.indexkey {
+	background-color: #EBEFF6;
+	font-weight: bold;
+	border: 1px solid #C4CFE5;
+	margin: 2px 0px 2px 0;
+	padding: 2px 10px;
+        white-space: nowrap;
+        vertical-align: top;
+}
+
+td.indexvalue {
+	background-color: #EBEFF6;
+	border: 1px solid #C4CFE5;
+	padding: 2px 10px;
+	margin: 2px 0px;
+}
+
+tr.memlist {
+	background-color: #EEF1F7;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.formulaDsp {
+	
+}
+
+img.formulaInl {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: #008000
+}
+
+span.keywordtype {
+	color: #604020
+}
+
+span.keywordflow {
+	color: #e08000
+}
+
+span.comment {
+	color: #800000
+}
+
+span.preprocessor {
+	color: #806020
+}
+
+span.stringliteral {
+	color: #002080
+}
+
+span.charliteral {
+	color: #008080
+}
+
+span.vhdldigit { 
+	color: #ff00ff 
+}
+
+span.vhdlchar { 
+	color: #000000 
+}
+
+span.vhdlkeyword { 
+	color: #700070 
+}
+
+span.vhdllogic { 
+	color: #ff0000 
+}
+
+blockquote {
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+/*
+.search {
+	color: #003399;
+	font-weight: bold;
+}
+
+form.search {
+	margin-bottom: 0px;
+	margin-top: 0px;
+}
+
+input.search {
+	font-size: 75%;
+	color: #000080;
+	font-weight: normal;
+	background-color: #e8eef2;
+}
+*/
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid #A3B4D7;
+}
+
+th.dirtab {
+	background: #EBEFF6;
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: cyan;
+	box-shadow: 0 0 15px cyan;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: #F9FAFC;
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: #555;
+}
+
+.memSeparator {
+        border-bottom: 1px solid #DEE4F0;
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: #4665A2;
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid #A8B8D9;
+	border-left: 1px solid #A8B8D9;
+	border-right: 1px solid #A8B8D9;
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: url('nav_f.png');
+	background-repeat: repeat-x;
+	background-color: #E2E8F2;
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: #4665A2;
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.memnav {
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+	margin: 2px;
+	margin-right: 15px;
+	padding: 2px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px cyan;
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
+        padding: 6px 0px 6px 0px;
+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 4px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 4px;
+
+}
+
+.overload {
+        font-family: "courier new",courier,monospace;
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 6px 10px 2px 10px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
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+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
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+}
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+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
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+}
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+}
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+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}       
+
+.params .paramname, .retval .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+        
+.params .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}       
+        
+.params .paramdir {
+        font-family: "courier new",courier,monospace;
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+dl
+{
+        padding: 0 0 0 10px;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug */
+dl.section
+{
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #D0C000;
+}
+
+dl.warning, dl.attention
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #00D000;
+}
+
+dl.deprecated
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #505050;
+}
+
+dl.todo
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #00C0E0;
+}
+
+dl.test
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #3030E0;
+}
+
+dl.bug
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
+	font: 120% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font: 50% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+div.zoom
+{
+	border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:#334975;
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+}
+
+dl.citelist dd {
+        margin:2px 0;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+	color: #4665A2;
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}       
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: gray;
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	white-space: nowrap;
+	background-color: white;
+	border: 1px solid gray;
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: 1px 1px 7px gray;
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: grey;
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: #006318;
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font: 12px/16px Roboto,sans-serif;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: #ffffff;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before {
+	border-top-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: #ffffff;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: #ffffff;
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: #808080;
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: #ffffff;
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: #808080;
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+/*
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.markdownTableHead tr {
+}
+
+table.markdownTableBodyLeft td, table.markdownTable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+th.markdownTableHeadLeft th.markdownTableHeadRight th.markdownTableHeadCenter th.markdownTableHeadNone {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter {
+	text-align: center
+}
+*/
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+
+/* @end */
diff --git a/doxygen_files/html/doxygen.png b/doxygen_files/html/doxygen.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ff17d807fd8aa003bed8bb2a69e8f0909592fd1
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diff --git a/doxygen_files/html/dynsections.js b/doxygen_files/html/dynsections.js
new file mode 100644
index 0000000..537e3e4
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+++ b/doxygen_files/html/dynsections.js
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+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
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+ var content = $('#'+base+'-content');
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+ } else {
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+   summary.hide();
+   $(linkObj).removeClass('closed').addClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
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+ return false;
+}
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+{
+  $('table.directory tr').
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+}
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+      $(this).show();
+    } else {
+      $(this).hide();
+    }
+  });
+  updateStripes();
+}
+
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+{
+  // the clicked row
+  var currentRow = $('#row_'+id);
+
+  // all rows after the clicked row
+  var rows = currentRow.nextAll("tr");
+
+  var re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+  // only match elements AFTER this one (can't hide elements before)
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+
+  // first row is visible we are HIDING
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+    // replace down arrow by right arrow for current row
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+    currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    currentRowSpans.filter(".arrow").html('&#9654;');
+    rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+  } else { // we are SHOWING
+    // replace right arrow by down arrow for current row
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+    currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
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+    // replace down arrows by right arrows for child rows
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+    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
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+}
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+  var img = $('tr.inherit_header.'+id+' img');
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+    rows.css('display','none');
+    $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+  } else {
+    rows.css('display','table-row'); // using show() causes jump in firefox
+    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+  }
+}
+/* @license-end */
+
+$(document).ready(function() {
+  $('.code,.codeRef').each(function() {
+    $(this).data('powertip',$('#'+$(this).attr('href').replace(/.*\//,'').replace(/[^a-z_A-Z0-9]/g,'_')).html());
+    $(this).powerTip({ placement: 's', smartPlacement: true, mouseOnToPopup: true });
+  });
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diff --git a/doxygen_files/html/easycomm_8h.html b/doxygen_files/html/easycomm_8h.html
new file mode 100644
index 0000000..7fa52ee
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+++ b/doxygen_files/html/easycomm_8h.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
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+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: libraries/easycomm.h File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_bc0718b08fb2015b8e59c47b2805f60c.html">libraries</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#define-members">Macros</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">easycomm.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;Arduino.h&gt;</code><br />
+<code>#include &lt;WString.h&gt;</code><br />
+<code>#include &lt;avr/wdt.h&gt;</code><br />
+<code>#include &quot;<a class="el" href="rs485_8h_source.html">rs485.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="globals_8h_source.html">globals.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for easycomm.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="easycomm_8h__incl.png" border="0" usemap="#libraries_2easycomm_8h" alt=""/></div>
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+<area shape="rect" id="node5" href="rs485_8h.html" title="rs485.h" alt="" coords="244,80,315,107"/>
+<area shape="rect" id="node6" href="rotator__pins_8h.html" title="rotator_pins.h" alt="" coords="339,80,451,107"/>
+<area shape="rect" id="node7" href="globals_8h.html" title="globals.h" alt="" coords="476,80,557,107"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="easycomm_8h__dep__incl.png" border="0" usemap="#libraries_2easycomm_8hdep" alt=""/></div>
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+<area shape="rect" id="node3" href="dc__motor__controller_8ino.html" title="dc_motor_controller\l/dc_motor_controller.ino" alt="" coords="5,155,184,196"/>
+<area shape="rect" id="node4" href="stepper__motor__controller_8ino.html" title="stepper_motor_controller\l/stepper_motor_controller.ino" alt="" coords="212,155,425,196"/>
+</map>
+</div>
+</div>
+<p><a href="easycomm_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classeasycomm.html">easycomm</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class that functions for easycomm 3 implementation.  <a href="classeasycomm.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
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+<tr class="separator:a734bbab06e1a9fd2e5522db0221ff6e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:abdffa1ce6a347f355c4de274ec721357"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrs485.html">rs485</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="easycomm_8h.html#abdffa1ce6a347f355c4de274ec721357">rs485</a> (<a class="el" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a>, <a class="el" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">RS485_TX_TIME</a>)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for easycomm 3 protocol as referred, in Hamlib.</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a734bbab06e1a9fd2e5522db0221ff6e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a734bbab06e1a9fd2e5522db0221ff6e3">&#9670;&nbsp;</a></span>BAUDRATE</h2>
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+<div class="memitem">
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+</div><div class="memdoc">
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+<p>Set the Baudrate of easycomm 3 protocol. </p>
+
+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00022">22</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00039">easycomm::easycomm_init()</a>.</p>
+
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+<p>Set the size of serial buffer. </p>
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+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00021">21</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
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+          <td class="memname">#define RS485_TX_TIME&#160;&#160;&#160;9</td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Delay "t"ms to write in serial for RS485 implementation. </p>
+
+<p class="definition">Definition at line <a class="el" href="easycomm_8h_source.html#l00020">20</a> of file <a class="el" href="easycomm_8h_source.html">easycomm.h</a>.</p>
+
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+<h2 class="memtitle"><span class="permalink"><a href="#abdffa1ce6a347f355c4de274ec721357">&#9670;&nbsp;</a></span>rs485()</h2>
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+          <td class="memname"><a class="el" href="classrs485.html">rs485</a> <a class="el" href="classrs485.html">rs485</a> </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a>&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">RS485_TX_TIME</a>&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
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+          <td></td><td></td>
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+<a href="easycomm_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef LIBRARIES_EASYCOMM_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define LIBRARIES_EASYCOMM_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Arduino.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;WString.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;avr/wdt.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rs485_8h.html">rs485.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rotator__pins_8h.html">rotator_pins.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">   20</a></span>&#160;<span class="preprocessor">#define RS485_TX_TIME 9     </span></div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">   21</a></span>&#160;<span class="preprocessor">#define BUFFER_SIZE   256   </span></div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">   22</a></span>&#160;<span class="preprocessor">#define BAUDRATE      19200 </span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor"></span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<a class="code" href="classrs485.html">rs485</a> <a class="code" href="easycomm_8h.html#abdffa1ce6a347f355c4de274ec721357">rs485</a>(<a class="code" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a>, <a class="code" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">RS485_TX_TIME</a>);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classeasycomm.html">   31</a></span>&#160;<span class="keyword">class </span><a class="code" href="classeasycomm.html">easycomm</a> {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">   39</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm_init</a>() {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">begin</a>(<a class="code" href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">BAUDRATE</a>);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">   48</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm_proc</a>() {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordtype">char</span> buffer[<a class="code" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a>];</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keywordtype">char</span> incomingByte;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordtype">char</span> *Data = buffer;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordtype">char</span> *rawData;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keyword">static</span> uint16_t BufferCnt = 0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keywordtype">char</span> data[100];</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        String str1, str2, str3, str4, str5, str6;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="comment">// Read from serial</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordflow">while</span> (<a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">available</a>() &gt; 0) {</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            incomingByte = <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">read</a>();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            <span class="comment">// Read new data, &#39;\n&#39; means new pacakage</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            <span class="keywordflow">if</span> (incomingByte == <span class="charliteral">&#39;\n&#39;</span>) {</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                buffer[BufferCnt] = 0;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;A&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;Z&#39;</span>) {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                    <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39; &#39;</span> &amp;&amp; buffer[3] == <span class="charliteral">&#39;E&#39;</span> &amp;&amp;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                        buffer[4] == <span class="charliteral">&#39;L&#39;</span>) {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                        <span class="comment">// Send current absolute position in deg</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                        str1 = String(<span class="stringliteral">&quot;AZ&quot;</span>);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                        str3 = String(<span class="stringliteral">&quot; EL&quot;</span>);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                        str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                        str5 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                        <span class="comment">// Get the absolute position in deg for azimuth</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                        <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot; &quot;</span>, &amp;Data);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                        strncpy(data, rawData + 2, 10);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                            <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = atof(data);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                        }</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                        <span class="comment">// Get the absolute position in deg for elevation</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot; &quot;</span>, &amp;Data);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                        <span class="keywordflow">if</span> (rawData[0] == <span class="charliteral">&#39;E&#39;</span> &amp;&amp; rawData[1] == <span class="charliteral">&#39;L&#39;</span>) {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                            strncpy(data, rawData + 2, 10);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                            <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = atof(data);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                            }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                        }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                    }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;V&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;U&#39;</span>) {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                    <span class="comment">// Elevation increase speed in mdeg/s</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                    strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                    <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                        <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                        <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = atof(data) / 1000;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;V&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;D&#39;</span>) {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                    <span class="comment">// Elevation decrease speed in mdeg/s</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                    strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                    <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                        <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                        <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = - atof(data) / 1000;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                    }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;V&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;L&#39;</span>) {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                    <span class="comment">// Azimuth increase speed in mdeg/s</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                    strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                    <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                        <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                        <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = atof(data) / 1000;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; 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                   <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                        <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                        <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = - atof(data) / 1000;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                    }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;S&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;A&#39;</span> &amp;&amp;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                           buffer[2] == <span class="charliteral">&#39; &#39;</span> &amp;&amp; buffer[3] == <span class="charliteral">&#39;S&#39;</span> &amp;&amp;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                           buffer[4] == <span class="charliteral">&#39;E&#39;</span>) {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                    <span class="comment">// Stop Moving</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                    str1 = String(<span class="stringliteral">&quot;AZ&quot;</span>);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                    str3 = String(<span class="stringliteral">&quot; EL&quot;</span>);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                    str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                    str5 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                    <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                    <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;R&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;E&#39;</span> &amp;&amp;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                           buffer[2] == <span class="charliteral">&#39;S&#39;</span> &amp;&amp; buffer[3] == <span class="charliteral">&#39;E&#39;</span> &amp;&amp;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                           buffer[4] == <span class="charliteral">&#39;T&#39;</span>) {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                    <span class="comment">// Reset the rotator, go to home position</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                    str1 = String(<span class="stringliteral">&quot;AZ&quot;</span>);</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                    str3 = String(<span class="stringliteral">&quot; EL&quot;</span>);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                    str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                    str5 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;A&#39;</span> &amp;&amp;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                           buffer[2] == <span class="charliteral">&#39;R&#39;</span> &amp;&amp; buffer[3] == <span class="charliteral">&#39;K&#39;</span> ) {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                    <span class="comment">// Park the rotator</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                    str1 = String(<span class="stringliteral">&quot;AZ&quot;</span>);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                    str3 = String(<span class="stringliteral">&quot; EL&quot;</span>);</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                    str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                    str5 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                    <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a>;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                    <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;V&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;E&#39;</span>) {</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                    <span class="comment">// Get the version if rotator controller</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                    str1 = String(<span class="stringliteral">&quot;VE&quot;</span>);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                    str2 = String(<span class="stringliteral">&quot;SatNOGS-v2.2&quot;</span>);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                           buffer[2] == <span class="charliteral">&#39;0&#39;</span>) {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                    <span class="comment">// Get the inside temperature</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP0,&quot;</span>);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a>, DEC);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                           buffer[2] == <span class="charliteral">&#39;1&#39;</span>) {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                    <span class="comment">// Get the status of end-stop, azimuth</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP1,&quot;</span>);</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a>, DEC);</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                           buffer[2] == <span class="charliteral">&#39;2&#39;</span>) {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                    <span class="comment">// Get the status of end-stop, elevation</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP2,&quot;</span>);</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a>, DEC);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                           buffer[2] == <span class="charliteral">&#39;3&#39;</span>) {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                    <span class="comment">// Get the current position of azimuth in deg</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP3,&quot;</span>);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 2);</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                           buffer[2] == <span class="charliteral">&#39;4&#39;</span>) {</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                    <span class="comment">// Get the current position of elevation in deg</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP4,&quot;</span>);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 2);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                           buffer[2] == <span class="charliteral">&#39;5&#39;</span>) {</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                    <span class="comment">// Get the load of azimuth, in range of 0-1023</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP5,&quot;</span>);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">load</a>, DEC);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                           buffer[2] == <span class="charliteral">&#39;6&#39;</span>) {</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                    <span class="comment">// Get the load of elevation, in range of 0-1023</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP6,&quot;</span>);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">load</a>, DEC);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                           buffer[2] == <span class="charliteral">&#39;7&#39;</span>) {</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                    <span class="comment">// Get the speed of azimuth in deg/s</span></div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP7,&quot;</span>);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">speed</a>, 2);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;I&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;P&#39;</span> &amp;&amp;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                           buffer[2] == <span class="charliteral">&#39;8&#39;</span>) {</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                    <span class="comment">// Get the speed of elevation in deg/s</span></div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                    str1 = String(<span class="stringliteral">&quot;IP8,&quot;</span>);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">speed</a>, 2);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;G&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;S&#39;</span>) {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                    <span class="comment">// Get the status of rotator</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                    str1 = String(<span class="stringliteral">&quot;GS&quot;</span>);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a>, DEC);</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;G&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;E&#39;</span>) {</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                    <span class="comment">// Get the error of rotator</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                    str1 = String(<span class="stringliteral">&quot;GE&quot;</span>);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a>, DEC);</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(buffer[0] == <span class="charliteral">&#39;C&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;R&#39;</span>) {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                    <span class="comment">// Get Configuration of rotator</span></div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                    <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;1&#39;</span>) {</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                        <span class="comment">// Get Kp Azimuth gain</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                        str1 = String(<span class="stringliteral">&quot;1,&quot;</span>);</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a>, 2);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;2&#39;</span>) {</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;                        <span class="comment">// Get Ki Azimuth gain</span></div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                        str1 = String(<span class="stringliteral">&quot;2,&quot;</span>);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                         str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a>, 2);</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                         str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                         <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;3&#39;</span>) {</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                        <span class="comment">// Get Kd Azimuth gain</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                        str1 = String(<span class="stringliteral">&quot;3,&quot;</span>);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a>, 2);</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;4&#39;</span>) {</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                        <span class="comment">// Get Kp Elevation gain</span></div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                        str1 = String(<span class="stringliteral">&quot;4,&quot;</span>);</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                         str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a>, 2);</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                         str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                         <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;5&#39;</span>) {</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                        <span class="comment">// Get Ki Elevation gain</span></div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                        str1 = String(<span class="stringliteral">&quot;5,&quot;</span>);</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a>, 2);</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;6&#39;</span>) {</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                        <span class="comment">// Get Kd Elevation gain</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                        str1 = String(<span class="stringliteral">&quot;6,&quot;</span>);</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a>, 2);</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;7&#39;</span>) {</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                        <span class="comment">// Get Azimuth park position</span></div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                        str1 = String(<span class="stringliteral">&quot;7,&quot;</span>);</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a>, 2);</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;8&#39;</span>) {</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                        <span class="comment">// Get Elevation park position</span></div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                        str1 = String(<span class="stringliteral">&quot;8,&quot;</span>);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a>, 2);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">&#39;9&#39;</span>) {</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                        <span class="comment">// Get control mode</span></div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                        str1 = String(<span class="stringliteral">&quot;9,&quot;</span>);</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                        str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a>);</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                        str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                        <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                    }</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;C&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;W&#39;</span>) {</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                    <span class="comment">// Set Config</span></div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                    <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;1&#39;</span>) {</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                        <span class="comment">// Set Kp Azimuth gain</span></div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                            <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a> = atof(data);</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                        }</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;2&#39;</span>) {</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                        <span class="comment">// Set Ki Azimuth gain</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                            <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a> = atof(data);</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;                        }</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;3&#39;</span>) {</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                        <span class="comment">// Set Kd Azimuth gain</span></div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                            <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a> = atof(data);</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                        }</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;4&#39;</span>) {</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                        <span class="comment">// Set Kp Elevation gain</span></div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                            <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a> = atof(data);</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;                        }</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;5&#39;</span>) {</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;                        <span class="comment">// Set Ki Elevation gain</span></div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;                            <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a> = atof(data);</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;                        }</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;6&#39;</span>) {</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                        <span class="comment">// Set Kd Elevation gain</span></div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                            <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a> = atof(data);</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                        }</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                    }  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;7&#39;</span>) {</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                        <span class="comment">// Set the Azimuth park position</span></div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a> = atof(data);</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                        }</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">&#39;8&#39;</span>) {</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;                        <span class="comment">// Set the Elevation park position</span></div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                        rawData = strtok_r(Data, <span class="stringliteral">&quot;,&quot;</span>, &amp;Data);</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                        strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                        <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a> = atof(data);</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                        }</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;                    }</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;R&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;S&#39;</span></div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                        &amp;&amp; buffer[2] == <span class="charliteral">&#39;T&#39;</span>) {</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                    <span class="comment">// Custom command to test the watchdog timer routine</span></div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;                    <span class="keywordflow">while</span>(1)</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                        ;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;R&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;B&#39;</span>) {</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;                    <span class="comment">// Custom command to reboot the uC</span></div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                    wdt_enable(WDTO_2S);</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                    <span class="keywordflow">while</span>(1);</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                }</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                <span class="comment">// Reset the buffer an clean the serial buffer</span></div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                BufferCnt = 0;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">flush</a>();</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;            } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;                <span class="comment">// Fill the buffer with incoming data</span></div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;                buffer[BufferCnt] = incomingByte;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;                BufferCnt++;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            }</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        }</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    }</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00378"></a><span class="lineno"><a class="line" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">  378</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(<span class="keywordtype">char</span> *input) {</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="keywordflow">for</span> (uint16_t i = 0; input[i] != <span class="charliteral">&#39;\0&#39;</span>; i++) {</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;            <span class="keywordflow">if</span> (isalpha(input[i]))</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        }</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    }</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;};</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* LIBRARIES_EASYCOMM_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="rs485_8h_html"><div class="ttname"><a href="rs485_8h.html">rs485.h</a></div></div>
+<div class="ttc" id="struct__control_html_adc122b9fd1dc7cb0b859405b0bc6ad1a"><div class="ttname"><a href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">_control::input</a></div><div class="ttdeci">double input</div><div class="ttdoc">Motor Position feedback in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00030">globals.h:30</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="classeasycomm_html_a68c229f5c44074fae9992ec9ea605046"><div class="ttname"><a href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm::easycomm_proc</a></div><div class="ttdeci">void easycomm_proc()</div><div class="ttdoc">Get the commands from RS485 and response to the client. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00048">easycomm.h:48</a></div></div>
+<div class="ttc" id="struct__control_html_a1d9d72c3f267607ad077052f215cbcd5"><div class="ttname"><a href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">_control::setpoint</a></div><div class="ttdeci">double setpoint</div><div class="ttdoc">Position set point in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00033">globals.h:33</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="classrs485_html_ab7cf3f6e3b6e6d79dc490145aa3c1b12"><div class="ttname"><a href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">rs485::begin</a></div><div class="ttdeci">void begin(uint16_t baudrate)</div><div class="ttdoc">Initialize the RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00038">rs485.h:38</a></div></div>
+<div class="ttc" id="struct__rotator_html_a5626b9e27ffdef0f5f8851ebb5a27812"><div class="ttname"><a href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator::switch_az</a></div><div class="ttdeci">bool switch_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="struct__control_html_a08335ac31b691f2ed082a02d4a10961b"><div class="ttname"><a href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">_control::p</a></div><div class="ttdeci">double p</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
+<div class="ttc" id="easycomm_8h_html_a734bbab06e1a9fd2e5522db0221ff6e3"><div class="ttname"><a href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">BAUDRATE</a></div><div class="ttdeci">#define BAUDRATE</div><div class="ttdoc">Set the Baudrate of easycomm 3 protocol. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00022">easycomm.h:22</a></div></div>
+<div class="ttc" id="globals_8h_html_a87c5a684fccc0f0ed68486d54ffbda77"><div class="ttname"><a href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a></div><div class="ttdeci">_control control_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00051">globals.h:51</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a63538aadae7384dfdeae19989b6d5692"><div class="ttname"><a href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a></div><div class="ttdeci">#define RS485_DIR</div><div class="ttdoc">Digital output, to set the direction of RS485 communication. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00028">rotator_pins.h:28</a></div></div>
+<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div></div>
+<div class="ttc" id="globals_8h_html_addd34cf12b8ad4e4eb65097b7c950dc4"><div class="ttname"><a href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></div><div class="ttdeci">_rotator rotator</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00057">globals.h:57</a></div></div>
+<div class="ttc" id="struct__rotator_html_ad7f5a96e0a6675c3471670c927bbae49"><div class="ttname"><a href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator::rotator_status</a></div><div class="ttdeci">enum _rotator_status rotator_status</div><div class="ttdoc">Rotator status. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00041">globals.h:41</a></div></div>
+<div class="ttc" id="struct__rotator_html_a169bb52a1b00c2506bf7979aae6bab12"><div class="ttname"><a href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator::rotator_error</a></div><div class="ttdeci">enum _rotator_error rotator_error</div><div class="ttdoc">Rotator error. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00042">globals.h:42</a></div></div>
+<div class="ttc" id="struct__rotator_html_a88068d1cd476b7a52bbc400c77e81d9a"><div class="ttname"><a href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator::switch_el</a></div><div class="ttdeci">bool switch_el</div><div class="ttdoc">End-stop vales. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="struct__rotator_html_a6ad10e10ad60c7cb8d4f30986cb1384f"><div class="ttname"><a href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">_rotator::park_el</a></div><div class="ttdeci">double park_el</div><div class="ttdoc">Park position for both axis. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00046">globals.h:46</a></div></div>
+<div class="ttc" id="struct__control_html_a97e0823512ecbf67560099811613002c"><div class="ttname"><a href="struct__control.html#a97e0823512ecbf67560099811613002c">_control::i</a></div><div class="ttdeci">double i</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
+<div class="ttc" id="classrs485_html_a204229ca0c3ee5d24d4c5eac9a543ef7"><div class="ttname"><a href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">rs485::available</a></div><div class="ttdeci">uint8_t available(void)</div><div class="ttdoc">The number of chars/uint8_t that are available in RS485 buffer. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00073">rs485.h:73</a></div></div>
+<div class="ttc" id="struct__rotator_html_a1bfde08392f85de45463f69b77c8120d"><div class="ttname"><a href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">_rotator::inside_temperature</a></div><div class="ttdeci">int8_t inside_temperature</div><div class="ttdoc">Inside Temperature. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00045">globals.h:45</a></div></div>
+<div class="ttc" id="struct__control_html_aba0fe925711333cc0910d439b589d175"><div class="ttname"><a href="struct__control.html#aba0fe925711333cc0910d439b589d175">_control::d</a></div><div class="ttdeci">double d</div><div class="ttdoc">Control gains. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
+<div class="ttc" id="struct__control_html_ac6968a0c314b5e6c1910fa2238b5e325"><div class="ttname"><a href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">_control::speed</a></div><div class="ttdeci">double speed</div><div class="ttdoc">Motor Rotation speed in deg/s. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00032">globals.h:32</a></div></div>
+<div class="ttc" id="classrs485_html_ac549517006a6b2cff970e3390ccd2c45"><div class="ttname"><a href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">rs485::read</a></div><div class="ttdeci">uint8_t read()</div><div class="ttdoc">Read a char/uint8_t from RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00063">rs485.h:63</a></div></div>
+<div class="ttc" id="classeasycomm_html_a7db30a0f3a754dc281cbedab461d76f6"><div class="ttname"><a href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm::easycomm_init</a></div><div class="ttdeci">void easycomm_init()</div><div class="ttdoc">Initialize the RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00039">easycomm.h:39</a></div></div>
+<div class="ttc" id="struct__control_html_a08308f27e459947c9692735b18aa2f04"><div class="ttname"><a href="struct__control.html#a08308f27e459947c9692735b18aa2f04">_control::setpoint_speed</a></div><div class="ttdeci">double setpoint_speed</div><div class="ttdoc">Speed set point in deg/s. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00034">globals.h:34</a></div></div>
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+<div class="ttc" id="rotator__pins_8h_html"><div class="ttname"><a href="rotator__pins_8h.html">rotator_pins.h</a></div></div>
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+<div class="ttc" id="classrs485_html_af02e2635ac5bb688bc9f05895a983704"><div class="ttname"><a href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">rs485::flush</a></div><div class="ttdeci">void flush()</div><div class="ttdoc">Waits for the transmission of outgoing serial data to complete. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00082">rs485.h:82</a></div></div>
+<div class="ttc" id="classrs485_html_acffe305907c9de94dda20135bc6ad93a"><div class="ttname"><a href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">rs485::print</a></div><div class="ttdeci">void print(String str)</div><div class="ttdoc">Print a string to RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00050">rs485.h:50</a></div></div>
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+<div class="ttc" id="classrs485_html"><div class="ttname"><a href="classrs485.html">rs485</a></div><div class="ttdoc">Class that functions for interacting with a RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00023">rs485.h:23</a></div></div>
+<div class="ttc" id="struct__control_html_aeb5b4a7fd5e9aa8ada410f568a0a87b4"><div class="ttname"><a href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">_control::load</a></div><div class="ttdeci">uint16_t load</div><div class="ttdoc">Motor Load in mA. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00035">globals.h:35</a></div></div>
+<div class="ttc" id="easycomm_8h_html_a6b20d41d6252e9871430c242cb1a56e7"><div class="ttname"><a href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a></div><div class="ttdeci">#define BUFFER_SIZE</div><div class="ttdoc">Set the size of serial buffer. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00021">easycomm.h:21</a></div></div>
+<div class="ttc" id="globals_8h_html_ade92ac8f94e642ce7708250d1235ae85"><div class="ttname"><a href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a></div><div class="ttdeci">_control control_el</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00054">globals.h:54</a></div></div>
+<div class="ttc" id="easycomm_8h_html_abdffa1ce6a347f355c4de274ec721357"><div class="ttname"><a href="easycomm_8h.html#abdffa1ce6a347f355c4de274ec721357">rs485</a></div><div class="ttdeci">rs485 rs485(RS485_DIR, RS485_TX_TIME)</div></div>
+<div class="ttc" id="classeasycomm_html_a0da8917b93ae0d477791a86e1edeefb9"><div class="ttname"><a href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">easycomm::isNumber</a></div><div class="ttdeci">bool isNumber(char *input)</div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00378">easycomm.h:378</a></div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.14
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">endstop.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for end-stops, mechanical, optical, magnetic etc.</p>
+<p>Licensed under the GPLv3 </p>
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+<p class="definition">Definition in file <a class="el" href="endstop_8h_source.html">endstop.h</a>.</p>
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+<div class="title">endstop.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="endstop_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef ENDSTOP_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define ENDSTOP_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classendstop.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="classendstop.html">endstop</a> {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classendstop.html#accd7d557af506828fffb434809f422f1">   25</a></span>&#160;    <a class="code" href="classendstop.html#accd7d557af506828fffb434809f422f1">endstop</a>(uint8_t pin, <span class="keywordtype">bool</span> default_state) {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <a class="code" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">_pin</a> = pin;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <a class="code" href="classendstop.html#aaf8429fa28d2aa40a42884b469e8f626">_default_state</a> = default_state;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    }</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">   35</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a>() {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        pinMode(<a class="code" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">_pin</a>, INPUT_PULLUP);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">   45</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>() {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keywordflow">if</span> (digitalRead(<a class="code" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">_pin</a>) == <a class="code" href="classendstop.html#aaf8429fa28d2aa40a42884b469e8f626">_default_state</a>)</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; 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+<div class="ttc" id="classendstop_html_a6d24d7ed95ded92431288da42a6aebf9"><div class="ttname"><a href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">endstop::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialize the Input pin for end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00035">endstop.h:35</a></div></div>
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+++ b/doxygen_files/html/functions.html
@@ -0,0 +1,393 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index__"></a>- _ -</h3><ul>
+<li>_angle_offset
+: <a class="el" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">AS5601</a>
+</li>
+<li>_ch0
+: <a class="el" href="classi2c__mux.html#acca9a43816973b7471017cbc1d6fd70a">i2c_mux</a>
+</li>
+<li>_ch1
+: <a class="el" href="classi2c__mux.html#a3aa95a560e46d8a078ca2fd2eeb4dab4">i2c_mux</a>
+</li>
+<li>_default_state
+: <a class="el" href="classendstop.html#aaf8429fa28d2aa40a42884b469e8f626">endstop</a>
+</li>
+<li>_en_pin
+: <a class="el" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">motor</a>
+</li>
+<li>_enc_ratio
+: <a class="el" href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">AS5601</a>
+</li>
+<li>_fb_pin
+: <a class="el" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">motor</a>
+</li>
+<li>_id
+: <a class="el" href="classi2c__mux.html#ad56c7d14d6638caa0bccce4d609256c6">i2c_mux</a>
+, <a class="el" href="classtc74.html#a9aef242072cf2021850126f6931cd577">tc74</a>
+</li>
+<li>_maxSpeed
+: <a class="el" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">motor</a>
+</li>
+<li>_minSpeed
+: <a class="el" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">motor</a>
+</li>
+<li>_n
+: <a class="el" href="classAS5601.html#a6524caff1a797ace0b48dfcad375f37a">AS5601</a>
+</li>
+<li>_pin
+: <a class="el" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">endstop</a>
+</li>
+<li>_pin_dir
+: <a class="el" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">rs485</a>
+</li>
+<li>_pwm_pin1
+: <a class="el" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">motor</a>
+</li>
+<li>_pwm_pin2
+: <a class="el" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">motor</a>
+</li>
+<li>_raw_prev_pos
+: <a class="el" href="classAS5601.html#a104f193f38617cb45e2af426f10971af">AS5601</a>
+</li>
+<li>_sf_pin
+: <a class="el" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">motor</a>
+</li>
+<li>_tx_time
+: <a class="el" href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>available()
+: <a class="el" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>Begin()
+: <a class="el" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">AS5601</a>
+</li>
+<li>begin()
+: <a class="el" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>control_mode
+: <a class="el" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>d
+: <a class="el" href="struct__control.html#aba0fe925711333cc0910d439b589d175">_control</a>
+</li>
+<li>disenable()
+: <a class="el" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">motor</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>easycomm_init()
+: <a class="el" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm</a>
+</li>
+<li>easycomm_proc()
+: <a class="el" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm</a>
+</li>
+<li>enable()
+: <a class="el" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">motor</a>
+</li>
+<li>end()
+: <a class="el" href="classrs485.html#a1a7d6743372a514e371f761d357b3bd8">rs485</a>
+</li>
+<li>endstop()
+: <a class="el" href="classendstop.html#accd7d557af506828fffb434809f422f1">endstop</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>fault_az
+: <a class="el" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">_rotator</a>
+</li>
+<li>fault_el
+: <a class="el" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">_rotator</a>
+</li>
+<li>flush()
+: <a class="el" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>get_agc()
+: <a class="el" href="classAS5601.html#ad8192e27c57aaef265e0649876ca6bf2">AS5601</a>
+</li>
+<li>get_conf()
+: <a class="el" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">AS5601</a>
+</li>
+<li>get_fault()
+: <a class="el" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">motor</a>
+</li>
+<li>get_load()
+: <a class="el" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">motor</a>
+</li>
+<li>get_magnitude()
+: <a class="el" href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">AS5601</a>
+</li>
+<li>get_pos()
+: <a class="el" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">AS5601</a>
+</li>
+<li>get_state()
+: <a class="el" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">endstop</a>
+</li>
+<li>get_status()
+: <a class="el" href="classtc74.html#a91d194f87d6153a0556ab5fd857e66ee">tc74</a>
+</li>
+<li>get_temp()
+: <a class="el" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">tc74</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>homing_flag
+: <a class="el" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>i
+: <a class="el" href="struct__control.html#a97e0823512ecbf67560099811613002c">_control</a>
+</li>
+<li>i2c_byte_transaction()
+: <a class="el" href="classAS5601.html#afcac1b1abeeea88e465694373136168a">AS5601</a>
+</li>
+<li>i2c_mux()
+: <a class="el" href="classi2c__mux.html#aacb992d29412ed15eb0b8b1983dcf976">i2c_mux</a>
+</li>
+<li>i2c_word_transaction()
+: <a class="el" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">AS5601</a>
+</li>
+<li>init()
+: <a class="el" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">endstop</a>
+, <a class="el" href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">i2c_mux</a>
+, <a class="el" href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">tc74</a>
+</li>
+<li>init_pin()
+: <a class="el" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">motor</a>
+</li>
+<li>init_timer()
+: <a class="el" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">motor</a>
+</li>
+<li>init_zero()
+: <a class="el" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">AS5601</a>
+</li>
+<li>input
+: <a class="el" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">_control</a>
+</li>
+<li>input_prv
+: <a class="el" href="struct__control.html#a42d481daff320ecacaa999a12e4b7412">_control</a>
+</li>
+<li>inside_temperature
+: <a class="el" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">_rotator</a>
+</li>
+<li>isNumber()
+: <a class="el" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">easycomm</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>load
+: <a class="el" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">_control</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>motor()
+: <a class="el" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor</a>
+</li>
+<li>move()
+: <a class="el" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">motor</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>p
+: <a class="el" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">_control</a>
+</li>
+<li>park_az
+: <a class="el" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">_rotator</a>
+</li>
+<li>park_el
+: <a class="el" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">_rotator</a>
+</li>
+<li>print()
+: <a class="el" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read()
+: <a class="el" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">rs485</a>
+</li>
+<li>rotator_error
+: <a class="el" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator</a>
+</li>
+<li>rotator_status
+: <a class="el" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator</a>
+</li>
+<li>rs485()
+: <a class="el" href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>set_channel()
+: <a class="el" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">i2c_mux</a>
+</li>
+<li>set_gear_ratio()
+: <a class="el" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">AS5601</a>
+</li>
+<li>set_max()
+: <a class="el" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">motor</a>
+</li>
+<li>set_min()
+: <a class="el" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">motor</a>
+</li>
+<li>set_zero()
+: <a class="el" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">AS5601</a>
+</li>
+<li>setpoint
+: <a class="el" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">_control</a>
+</li>
+<li>setpoint_speed
+: <a class="el" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">_control</a>
+</li>
+<li>sleep()
+: <a class="el" href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">tc74</a>
+</li>
+<li>speed
+: <a class="el" href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">_control</a>
+</li>
+<li>stop()
+: <a class="el" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">motor</a>
+</li>
+<li>switch_az
+: <a class="el" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator</a>
+</li>
+<li>switch_el
+: <a class="el" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>tc74()
+: <a class="el" href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">tc74</a>
+</li>
+</ul>
+
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>u
+: <a class="el" href="struct__control.html#a4ab9d7afcc7a10368b5045b228f0e0bd">_control</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>wake_up()
+: <a class="el" href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">tc74</a>
+</li>
+<li>watchdog_init()
+: <a class="el" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">wdt_timer</a>
+</li>
+<li>watchdog_reset()
+: <a class="el" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">wdt_timer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
diff --git a/doxygen_files/html/functions_func.html b/doxygen_files/html/functions_func.html
new file mode 100644
index 0000000..4dad15b
--- /dev/null
+++ b/doxygen_files/html/functions_func.html
@@ -0,0 +1,255 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>available()
+: <a class="el" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>Begin()
+: <a class="el" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">AS5601</a>
+</li>
+<li>begin()
+: <a class="el" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>disenable()
+: <a class="el" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">motor</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>easycomm_init()
+: <a class="el" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm</a>
+</li>
+<li>easycomm_proc()
+: <a class="el" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm</a>
+</li>
+<li>enable()
+: <a class="el" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">motor</a>
+</li>
+<li>end()
+: <a class="el" href="classrs485.html#a1a7d6743372a514e371f761d357b3bd8">rs485</a>
+</li>
+<li>endstop()
+: <a class="el" href="classendstop.html#accd7d557af506828fffb434809f422f1">endstop</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>flush()
+: <a class="el" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>get_agc()
+: <a class="el" href="classAS5601.html#ad8192e27c57aaef265e0649876ca6bf2">AS5601</a>
+</li>
+<li>get_conf()
+: <a class="el" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">AS5601</a>
+</li>
+<li>get_fault()
+: <a class="el" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">motor</a>
+</li>
+<li>get_load()
+: <a class="el" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">motor</a>
+</li>
+<li>get_magnitude()
+: <a class="el" href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">AS5601</a>
+</li>
+<li>get_pos()
+: <a class="el" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">AS5601</a>
+</li>
+<li>get_state()
+: <a class="el" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">endstop</a>
+</li>
+<li>get_status()
+: <a class="el" href="classtc74.html#a91d194f87d6153a0556ab5fd857e66ee">tc74</a>
+</li>
+<li>get_temp()
+: <a class="el" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">tc74</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>i2c_byte_transaction()
+: <a class="el" href="classAS5601.html#afcac1b1abeeea88e465694373136168a">AS5601</a>
+</li>
+<li>i2c_mux()
+: <a class="el" href="classi2c__mux.html#aacb992d29412ed15eb0b8b1983dcf976">i2c_mux</a>
+</li>
+<li>i2c_word_transaction()
+: <a class="el" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">AS5601</a>
+</li>
+<li>init()
+: <a class="el" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">endstop</a>
+, <a class="el" href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">i2c_mux</a>
+, <a class="el" href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">tc74</a>
+</li>
+<li>init_pin()
+: <a class="el" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">motor</a>
+</li>
+<li>init_timer()
+: <a class="el" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">motor</a>
+</li>
+<li>init_zero()
+: <a class="el" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">AS5601</a>
+</li>
+<li>isNumber()
+: <a class="el" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">easycomm</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>motor()
+: <a class="el" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor</a>
+</li>
+<li>move()
+: <a class="el" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">motor</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>print()
+: <a class="el" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read()
+: <a class="el" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">rs485</a>
+</li>
+<li>rs485()
+: <a class="el" href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>set_channel()
+: <a class="el" href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">i2c_mux</a>
+</li>
+<li>set_gear_ratio()
+: <a class="el" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">AS5601</a>
+</li>
+<li>set_max()
+: <a class="el" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">motor</a>
+</li>
+<li>set_min()
+: <a class="el" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">motor</a>
+</li>
+<li>set_zero()
+: <a class="el" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">AS5601</a>
+</li>
+<li>sleep()
+: <a class="el" href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">tc74</a>
+</li>
+<li>stop()
+: <a class="el" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">motor</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>tc74()
+: <a class="el" href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">tc74</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>wake_up()
+: <a class="el" href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">tc74</a>
+</li>
+<li>watchdog_init()
+: <a class="el" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">wdt_timer</a>
+</li>
+<li>watchdog_reset()
+: <a class="el" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">wdt_timer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
diff --git a/doxygen_files/html/functions_vars.html b/doxygen_files/html/functions_vars.html
new file mode 100644
index 0000000..400566a
--- /dev/null
+++ b/doxygen_files/html/functions_vars.html
@@ -0,0 +1,234 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index__"></a>- _ -</h3><ul>
+<li>_angle_offset
+: <a class="el" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">AS5601</a>
+</li>
+<li>_ch0
+: <a class="el" href="classi2c__mux.html#acca9a43816973b7471017cbc1d6fd70a">i2c_mux</a>
+</li>
+<li>_ch1
+: <a class="el" href="classi2c__mux.html#a3aa95a560e46d8a078ca2fd2eeb4dab4">i2c_mux</a>
+</li>
+<li>_default_state
+: <a class="el" href="classendstop.html#aaf8429fa28d2aa40a42884b469e8f626">endstop</a>
+</li>
+<li>_en_pin
+: <a class="el" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">motor</a>
+</li>
+<li>_enc_ratio
+: <a class="el" href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">AS5601</a>
+</li>
+<li>_fb_pin
+: <a class="el" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">motor</a>
+</li>
+<li>_id
+: <a class="el" href="classi2c__mux.html#ad56c7d14d6638caa0bccce4d609256c6">i2c_mux</a>
+, <a class="el" href="classtc74.html#a9aef242072cf2021850126f6931cd577">tc74</a>
+</li>
+<li>_maxSpeed
+: <a class="el" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">motor</a>
+</li>
+<li>_minSpeed
+: <a class="el" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">motor</a>
+</li>
+<li>_n
+: <a class="el" href="classAS5601.html#a6524caff1a797ace0b48dfcad375f37a">AS5601</a>
+</li>
+<li>_pin
+: <a class="el" href="classendstop.html#a17475e2676c5922399ea8b2bd6de0111">endstop</a>
+</li>
+<li>_pin_dir
+: <a class="el" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">rs485</a>
+</li>
+<li>_pwm_pin1
+: <a class="el" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">motor</a>
+</li>
+<li>_pwm_pin2
+: <a class="el" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">motor</a>
+</li>
+<li>_raw_prev_pos
+: <a class="el" href="classAS5601.html#a104f193f38617cb45e2af426f10971af">AS5601</a>
+</li>
+<li>_sf_pin
+: <a class="el" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">motor</a>
+</li>
+<li>_tx_time
+: <a class="el" href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">rs485</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>control_mode
+: <a class="el" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>d
+: <a class="el" href="struct__control.html#aba0fe925711333cc0910d439b589d175">_control</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>fault_az
+: <a class="el" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">_rotator</a>
+</li>
+<li>fault_el
+: <a class="el" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>homing_flag
+: <a class="el" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>i
+: <a class="el" href="struct__control.html#a97e0823512ecbf67560099811613002c">_control</a>
+</li>
+<li>input
+: <a class="el" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">_control</a>
+</li>
+<li>input_prv
+: <a class="el" href="struct__control.html#a42d481daff320ecacaa999a12e4b7412">_control</a>
+</li>
+<li>inside_temperature
+: <a class="el" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>load
+: <a class="el" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">_control</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>p
+: <a class="el" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">_control</a>
+</li>
+<li>park_az
+: <a class="el" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">_rotator</a>
+</li>
+<li>park_el
+: <a class="el" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>rotator_error
+: <a class="el" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator</a>
+</li>
+<li>rotator_status
+: <a class="el" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>setpoint
+: <a class="el" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">_control</a>
+</li>
+<li>setpoint_speed
+: <a class="el" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">_control</a>
+</li>
+<li>speed
+: <a class="el" href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">_control</a>
+</li>
+<li>switch_az
+: <a class="el" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator</a>
+</li>
+<li>switch_el
+: <a class="el" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>u
+: <a class="el" href="struct__control.html#a4ab9d7afcc7a10368b5045b228f0e0bd">_control</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
diff --git a/doxygen_files/html/globals.html b/doxygen_files/html/globals.html
new file mode 100644
index 0000000..7c9b94c
--- /dev/null
+++ b/doxygen_files/html/globals.html
@@ -0,0 +1,449 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all file members with links to the files they belong to:</div>
+
+<h3><a id="index__"></a>- _ -</h3><ul>
+<li>_control_mode
+: <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33">globals.h</a>
+</li>
+<li>_rotator_error
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">globals.h</a>
+</li>
+<li>_rotator_status
+: <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>A2
+: <a class="el" href="rotator__pins_8h.html#a2946bc30423c2a996eeafa49e995c30e">rotator_pins.h</a>
+</li>
+<li>A3
+: <a class="el" href="rotator__pins_8h.html#a48cdc6c9a75eb611d0a703c94bdac6b8">rotator_pins.h</a>
+</li>
+<li>AGC
+: <a class="el" href="as5601_8h.html#a6b14c0a97e1a526bf898cd24de183afb">as5601.h</a>
+</li>
+<li>AS5601_ID
+: <a class="el" href="as5601_8h.html#a25c5389b80876b6074ce88c6572b2296">as5601.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>BAUDRATE
+: <a class="el" href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">easycomm.h</a>
+</li>
+<li>BUFFER_SIZE
+: <a class="el" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">easycomm.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>comm
+: <a class="el" href="dc__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">stepper_motor_controller.ino</a>
+</li>
+<li>CONF_HIGH
+: <a class="el" href="as5601_8h.html#a50a238669bcc55ea8d1e6cdc48cf0193">as5601.h</a>
+</li>
+<li>CONF_LOW
+: <a class="el" href="as5601_8h.html#a5a7b8dcb28f171791bc1d12c6fd88a7f">as5601.h</a>
+</li>
+<li>control_az
+: <a class="el" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">globals.h</a>
+, <a class="el" href="dc__motor__controller_8ino.html#a7f4a4d4b871eb2a5ffbf72d413092114">dc_motor_controller.ino</a>
+</li>
+<li>control_el
+: <a class="el" href="dc__motor__controller_8ino.html#a961d3c110bf0dbe986c469b9b164f109">dc_motor_controller.ino</a>
+, <a class="el" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>DEFAULT_HOME_STATE
+: <a class="el" href="dc__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">stepper_motor_controller.ino</a>
+</li>
+<li>deg2step()
+: <a class="el" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">stepper_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>ENC_RATIO
+: <a class="el" href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">dc_motor_controller.ino</a>
+</li>
+<li>encoder_az
+: <a class="el" href="dc__motor__controller_8ino.html#ad7b945823a2a9518064aa22ce612fcaf">dc_motor_controller.ino</a>
+</li>
+<li>encoder_el
+: <a class="el" href="dc__motor__controller_8ino.html#a35ce9a059097bea4c32ee620078a659c">dc_motor_controller.ino</a>
+</li>
+<li>error
+: <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>HOME_DELAY
+: <a class="el" href="stepper__motor__controller_8ino.html#acf4a8c328d7d16e349494adf938d575c">stepper_motor_controller.ino</a>
+</li>
+<li>HOME_SPEED
+: <a class="el" href="dc__motor__controller_8ino.html#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">dc_motor_controller.ino</a>
+</li>
+<li>homing()
+: <a class="el" href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">stepper_motor_controller.ino</a>
+, <a class="el" href="dc__motor__controller_8ino.html#acb27c796ddcae7f932e2898cba368c3b">dc_motor_controller.ino</a>
+</li>
+<li>homing_error
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>I2C_FREQ
+: <a class="el" href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">as5601.h</a>
+, <a class="el" href="i2c__mux_8h.html#a8b7500a141450a9df212017430c0df9e">i2c_mux.h</a>
+</li>
+<li>idle
+: <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">globals.h</a>
+</li>
+<li>ISR()
+: <a class="el" href="watchdog_8h.html#a43905d6fb5c4d433a49f527fa6ab811f">watchdog.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>loop()
+: <a class="el" href="dc__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">stepper_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>M1FB
+: <a class="el" href="rotator__pins_8h.html#a4e12c241b5699b8487b50dbda38a2714">rotator_pins.h</a>
+</li>
+<li>M1IN1
+: <a class="el" href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">rotator_pins.h</a>
+</li>
+<li>M1IN2
+: <a class="el" href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">rotator_pins.h</a>
+</li>
+<li>M1SF
+: <a class="el" href="rotator__pins_8h.html#a1bef437ea4477b69d7417946685cc582">rotator_pins.h</a>
+</li>
+<li>M2FB
+: <a class="el" href="rotator__pins_8h.html#a756234870d4fec1dfb965e5a4ef4b5cd">rotator_pins.h</a>
+</li>
+<li>M2IN1
+: <a class="el" href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">rotator_pins.h</a>
+</li>
+<li>M2IN2
+: <a class="el" href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">rotator_pins.h</a>
+</li>
+<li>M2SF
+: <a class="el" href="rotator__pins_8h.html#a84c33ece7372e98a2b47c81491a06474">rotator_pins.h</a>
+</li>
+<li>MAGNITUDE_HIGH
+: <a class="el" href="as5601_8h.html#a44cb76675b777aed3142556943702c80">as5601.h</a>
+</li>
+<li>MAGNITUDE_LOW
+: <a class="el" href="as5601_8h.html#a27977fa09cf94bdf6e6f0f3d78d29c2e">as5601.h</a>
+</li>
+<li>MAX_ACCELERATION
+: <a class="el" href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">stepper_motor_controller.ino</a>
+</li>
+<li>MAX_M1_ANGLE
+: <a class="el" href="dc__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">stepper_motor_controller.ino</a>
+</li>
+<li>MAX_M2_ANGLE
+: <a class="el" href="dc__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">stepper_motor_controller.ino</a>
+</li>
+<li>MAX_PWM
+: <a class="el" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">dc_motor_controller.ino</a>
+</li>
+<li>MAX_SPEED
+: <a class="el" href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">stepper_motor_controller.ino</a>
+</li>
+<li>MICROSTEP
+: <a class="el" href="stepper__motor__controller_8ino.html#aca9cca604052ac7a6f173b58b7d6e126">stepper_motor_controller.ino</a>
+</li>
+<li>MIN_M1_ANGLE
+: <a class="el" href="stepper__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">stepper_motor_controller.ino</a>
+, <a class="el" href="dc__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">dc_motor_controller.ino</a>
+</li>
+<li>MIN_M2_ANGLE
+: <a class="el" href="dc__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">stepper_motor_controller.ino</a>
+</li>
+<li>MIN_PULSE_WIDTH
+: <a class="el" href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">stepper_motor_controller.ino</a>
+</li>
+<li>MIN_PWM
+: <a class="el" href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">dc_motor_controller.ino</a>
+</li>
+<li>motor_az
+: <a class="el" href="dc__motor__controller_8ino.html#a93ae915cd10983ab1234aa4a6b7910b3">dc_motor_controller.ino</a>
+</li>
+<li>motor_el
+: <a class="el" href="dc__motor__controller_8ino.html#a60cac79aef5df2246c291f606098d33b">dc_motor_controller.ino</a>
+</li>
+<li>MOTOR_EN
+: <a class="el" href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">rotator_pins.h</a>
+</li>
+<li>motor_error
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af">globals.h</a>
+</li>
+<li>moving
+: <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>no_error
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>OVER_TEMP
+: <a class="el" href="dc__motor__controller_8ino.html#adc250636bd54c7aa250dc02e87be44d3">dc_motor_controller.ino</a>
+</li>
+<li>over_temperature
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca">globals.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>pca9540
+: <a class="el" href="dc__motor__controller_8ino.html#a7741af4fcf4d529c3183cff30f191c5d">dc_motor_controller.ino</a>
+</li>
+<li>PCA9540_CH0
+: <a class="el" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">dc_motor_controller.ino</a>
+</li>
+<li>PCA9540_CH1
+: <a class="el" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">dc_motor_controller.ino</a>
+</li>
+<li>PCA9540_ID
+: <a class="el" href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">dc_motor_controller.ino</a>
+</li>
+<li>PIN12
+: <a class="el" href="rotator__pins_8h.html#a0157ab3e88e2635fceafe002a02cec6e">rotator_pins.h</a>
+</li>
+<li>PIN13
+: <a class="el" href="rotator__pins_8h.html#a5a4d13c57f4d208901b04a7044774293">rotator_pins.h</a>
+</li>
+<li>pointing
+: <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">globals.h</a>
+</li>
+<li>position
+: <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">globals.h</a>
+</li>
+<li>POSITION_DEADZONE
+: <a class="el" href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">dc_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>RATIO
+: <a class="el" href="dc__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">stepper_motor_controller.ino</a>
+</li>
+<li>RAW_ANG_HIGH
+: <a class="el" href="as5601_8h.html#a0f32fbf0619653f8582cfbb9b5022868">as5601.h</a>
+</li>
+<li>RAW_ANG_LOW
+: <a class="el" href="as5601_8h.html#a60e1d311be398853144f59e1d2a37be1">as5601.h</a>
+</li>
+<li>rotator
+: <a class="el" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">globals.h</a>
+</li>
+<li>rs485()
+: <a class="el" href="easycomm_8h.html#abdffa1ce6a347f355c4de274ec721357">easycomm.h</a>
+</li>
+<li>RS485_DIR
+: <a class="el" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">rotator_pins.h</a>
+</li>
+<li>RS485_TX_TIME
+: <a class="el" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">easycomm.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>SAMPLE_TIME
+: <a class="el" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">stepper_motor_controller.ino</a>
+</li>
+<li>SCL_PIN
+: <a class="el" href="rotator__pins_8h.html#a06c967e78bcedcee909a70764f879433">rotator_pins.h</a>
+</li>
+<li>SDA_PIN
+: <a class="el" href="rotator__pins_8h.html#a526d580d324bce60a3e964066fae77e3">rotator_pins.h</a>
+</li>
+<li>sensor_error
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a13da766a5299f2f7015a5922277088b4">globals.h</a>
+</li>
+<li>setup()
+: <a class="el" href="dc__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">stepper_motor_controller.ino</a>
+</li>
+<li>speed
+: <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">globals.h</a>
+</li>
+<li>SPR
+: <a class="el" href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">stepper_motor_controller.ino</a>
+</li>
+<li>STATUS_REG
+: <a class="el" href="as5601_8h.html#a1f7e79cfe81dc06414550fa52418941e">as5601.h</a>
+</li>
+<li>step2deg()
+: <a class="el" href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">stepper_motor_controller.ino</a>
+</li>
+<li>stepper_az()
+: <a class="el" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_motor_controller.ino</a>
+</li>
+<li>stepper_el()
+: <a class="el" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_motor_controller.ino</a>
+</li>
+<li>SW1
+: <a class="el" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">rotator_pins.h</a>
+</li>
+<li>SW2
+: <a class="el" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">rotator_pins.h</a>
+</li>
+<li>switch_az
+: <a class="el" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">stepper_motor_controller.ino</a>
+, <a class="el" href="dc__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">dc_motor_controller.ino</a>
+</li>
+<li>switch_el
+: <a class="el" href="dc__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">stepper_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>t_run
+: <a class="el" href="dc__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">stepper_motor_controller.ino</a>
+</li>
+<li>TC74_AWAKE_COMMAND
+: <a class="el" href="tc74_8h.html#ad08dad0d1a91b91db4885beeeb645771">tc74.h</a>
+</li>
+<li>TC74_CONFIGURATION_REGISTER
+: <a class="el" href="tc74_8h.html#a6ba5fdf8b49e61a58c97feb5bc35f9e3">tc74.h</a>
+</li>
+<li>TC74_DATA_READY_FLAG
+: <a class="el" href="tc74_8h.html#ab77abc7de3ca9f3753905259d339069b">tc74.h</a>
+</li>
+<li>TC74_ID
+: <a class="el" href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">dc_motor_controller.ino</a>
+</li>
+<li>TC74_STANDBY_COMMAND
+: <a class="el" href="tc74_8h.html#a12e2bb5245f9bf9487853ad58c0b1011">tc74.h</a>
+</li>
+<li>TC74_TEMPERATURE_REGISTER
+: <a class="el" href="tc74_8h.html#ae96d6b2a5131b4f3943d894c30fb42fb">tc74.h</a>
+</li>
+<li>temp_sensor
+: <a class="el" href="dc__motor__controller_8ino.html#a2499307ac3e6e8f80aa5c12b27668b4b">dc_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>wdt
+: <a class="el" href="dc__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">stepper_motor_controller.ino</a>
+</li>
+<li>wdt_error
+: <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb">globals.h</a>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
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+<title>satnogs-rotator-firmware: libraries/globals.h File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">satnogs-rotator-firmware
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><a class="el" href="dir_bc0718b08fb2015b8e59c47b2805f60c.html">libraries</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">globals.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;Arduino.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for globals.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="globals_8h__incl.png" border="0" usemap="#libraries_2globals_8h" alt=""/></div>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="globals_8h__dep__incl.png" border="0" usemap="#libraries_2globals_8hdep" alt=""/></div>
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+</div>
+<p><a href="globals_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html">_control</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html">_rotator</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:ae09bc16eee2b545dd6a98d700c3e3501"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a> { <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a> = 1, 
+<a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf">moving</a> = 2, 
+<a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">pointing</a> = 4, 
+<a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a> = 8
+ }</td></tr>
+<tr class="separator:ae09bc16eee2b545dd6a98d700c3e3501"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a455fc53a09c638322a14f309a295e7f1"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> { <br />
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+<a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a13da766a5299f2f7015a5922277088b4">sensor_error</a> = 2, 
+<a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a> = 4, 
+<a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af">motor_error</a> = 8, 
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+&#160;&#160;<a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca">over_temperature</a> = 12, 
+<a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb">wdt_error</a> = 16
+<br />
+ }</td></tr>
+<tr class="separator:a455fc53a09c638322a14f309a295e7f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a011a2a3681d95bf0def772367ba6ad33"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33">_control_mode</a> { <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a> = 0, 
+<a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = 1
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+<tr class="separator:a011a2a3681d95bf0def772367ba6ad33"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+<tr class="memitem:a87c5a684fccc0f0ed68486d54ffbda77"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct__control.html">_control</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a></td></tr>
+<tr class="separator:a87c5a684fccc0f0ed68486d54ffbda77"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ade92ac8f94e642ce7708250d1235ae85"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct__control.html">_control</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a></td></tr>
+<tr class="separator:ade92ac8f94e642ce7708250d1235ae85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:addd34cf12b8ad4e4eb65097b7c950dc4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct__rotator.html">_rotator</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></td></tr>
+<tr class="separator:addd34cf12b8ad4e4eb65097b7c950dc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a file to define all global variables</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+</div><h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a011a2a3681d95bf0def772367ba6ad33"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a011a2a3681d95bf0def772367ba6ad33">&#9670;&nbsp;</a></span>_control_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33">_control_mode</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Rotator Control Modes </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"></a>position&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"></a>speed&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00025">25</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+</div>
+</div>
+<a id="a455fc53a09c638322a14f309a295e7f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a455fc53a09c638322a14f309a295e7f1">&#9670;&nbsp;</a></span>_rotator_error</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Rotator Errors </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4"></a>no_error&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a455fc53a09c638322a14f309a295e7f1a13da766a5299f2f7015a5922277088b4"></a>sensor_error&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6"></a>homing_error&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af"></a>motor_error&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca"></a>over_temperature&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb"></a>wdt_error&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00020">20</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+</div>
+</div>
+<a id="ae09bc16eee2b545dd6a98d700c3e3501"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae09bc16eee2b545dd6a98d700c3e3501">&#9670;&nbsp;</a></span>_rotator_status</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Rotator status </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242"></a>idle&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf"></a>moving&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67"></a>pointing&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed"></a>error&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00016">16</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a87c5a684fccc0f0ed68486d54ffbda77"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a87c5a684fccc0f0ed68486d54ffbda77">&#9670;&nbsp;</a></span>control_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="struct__control.html">_control</a> control_az</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">= { .input = 0, .input_prv = 0, .speed=0, .setpoint = 0,</div><div class="line">                        .setpoint_speed = 0, .load = 0, .u = 0, .p = 8.0,</div><div class="line">                        .i = 0.0, .d = 0.5 }</div></div><!-- fragment -->
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00051">51</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="ade92ac8f94e642ce7708250d1235ae85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade92ac8f94e642ce7708250d1235ae85">&#9670;&nbsp;</a></span>control_el</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="struct__control.html">_control</a> control_el</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">= { .input = 0, .input_prv = 0, .speed=0, .setpoint = 0,</div><div class="line">                        .setpoint_speed = 0, .load = 0, .u = 0, .p = 10.0,</div><div class="line">                        .i = 0.0, .d = 0.3 }</div></div><!-- fragment -->
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00054">54</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
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+<a id="addd34cf12b8ad4e4eb65097b7c950dc4"></a>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="struct__rotator.html">_rotator</a> rotator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">= { .rotator_status = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>, .rotator_error = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>,</div><div class="line">                     .control_mode = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>, .homing_flag = <span class="keyword">false</span>,</div><div class="line">                     .inside_temperature = 0, .park_az = 0, .park_el = 0,</div><div class="line">                     .fault_az = LOW, .fault_el = LOW , .switch_az = <span class="keyword">false</span>,</div><div class="line">                     .switch_el = <span class="keyword">false</span>}</div><div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
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+</div><!-- fragment -->
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00057">57</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
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+<a href="globals_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef LIBRARIES_GLOBALS_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define LIBRARIES_GLOBALS_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Arduino.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">   16</a></span>&#160;<span class="keyword">enum</span> <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a> {</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">   17</a></span>&#160; 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       </div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;};</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="struct__rotator.html">   40</a></span>&#160;<span class="keyword">struct </span><a class="code" href="struct__rotator.html">_rotator</a>{</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">   41</a></span>&#160;    <span class="keyword">volatile</span> <span class="keyword">enum</span> <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a> <a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a>; </div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">   42</a></span>&#160; 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   int8_t <a class="code" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a>;                    </div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">   46</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a>, <a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a>;                      </div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">   47</a></span>&#160;    uint8_t <a class="code" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">fault_az</a>, <a class="code" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">fault_el</a>;                   </div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">   48</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a>, <a class="code" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a>;                    </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;};</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">   51</a></span>&#160;<a class="code" href="struct__control.html">_control</a> <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a> = { .<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a> = 0, .input_prv = 0, .speed=0, .setpoint = 0,</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                        .setpoint_speed = 0, .load = 0, .u = 0, .p = 8.0,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                        .i = 0.0, .d = 0.5 };</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">   54</a></span>&#160;<a class="code" href="struct__control.html">_control</a> <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a> = { .<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a> = 0, .input_prv = 0, .speed=0, .setpoint = 0,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                        .setpoint_speed = 0, .load = 0, .u = 0, .p = 10.0,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                        .i = 0.0, .d = 0.3 };</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">   57</a></span>&#160;<a class="code" href="struct__rotator.html">_rotator</a> <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a> = { .<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>, .rotator_error = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                     .control_mode = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>, .homing_flag = <span class="keyword">false</span>,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                     .inside_temperature = 0, .park_az = 0, .park_el = 0,</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                     .fault_az = LOW, .fault_el = LOW , .switch_az = <span class="keyword">false</span>,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                     .switch_el = <span class="keyword">false</span>};</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* LIBRARIES_GLOBALS_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33">_control_mode</a></div><div class="ttdeci">_control_mode</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00025">globals.h:25</a></div></div>
+<div class="ttc" id="struct__control_html_adc122b9fd1dc7cb0b859405b0bc6ad1a"><div class="ttname"><a href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">_control::input</a></div><div class="ttdeci">double input</div><div class="ttdoc">Motor Position feedback in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00030">globals.h:30</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a></div><div class="ttdeci">_rotator_status</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00016">globals.h:16</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1ab3e9a59dba488d350b0eabd4962a67af">motor_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">pointing</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="struct__control_html_a1d9d72c3f267607ad077052f215cbcd5"><div class="ttname"><a href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">_control::setpoint</a></div><div class="ttdeci">double setpoint</div><div class="ttdoc">Position set point in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00033">globals.h:33</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a717423059b8c506b73ed007b6a8c3bca">over_temperature</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00022">globals.h:22</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="struct__control_html"><div class="ttname"><a href="struct__control.html">_control</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00029">globals.h:29</a></div></div>
+<div class="ttc" id="struct__rotator_html_a5626b9e27ffdef0f5f8851ebb5a27812"><div class="ttname"><a href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator::switch_az</a></div><div class="ttdeci">bool switch_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="struct__control_html_a08335ac31b691f2ed082a02d4a10961b"><div class="ttname"><a href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">_control::p</a></div><div class="ttdeci">double p</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
+<div class="ttc" id="globals_8h_html_a87c5a684fccc0f0ed68486d54ffbda77"><div class="ttname"><a href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a></div><div class="ttdeci">_control control_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00051">globals.h:51</a></div></div>
+<div class="ttc" id="globals_8h_html_addd34cf12b8ad4e4eb65097b7c950dc4"><div class="ttname"><a href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></div><div class="ttdeci">_rotator rotator</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00057">globals.h:57</a></div></div>
+<div class="ttc" id="struct__rotator_html_ad7f5a96e0a6675c3471670c927bbae49"><div class="ttname"><a href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator::rotator_status</a></div><div class="ttdeci">enum _rotator_status rotator_status</div><div class="ttdoc">Rotator status. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00041">globals.h:41</a></div></div>
+<div class="ttc" id="struct__rotator_html_a169bb52a1b00c2506bf7979aae6bab12"><div class="ttname"><a href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator::rotator_error</a></div><div class="ttdeci">enum _rotator_error rotator_error</div><div class="ttdoc">Rotator error. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00042">globals.h:42</a></div></div>
+<div class="ttc" id="struct__rotator_html_a88068d1cd476b7a52bbc400c77e81d9a"><div class="ttname"><a href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator::switch_el</a></div><div class="ttdeci">bool switch_el</div><div class="ttdoc">End-stop vales. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="struct__rotator_html_a6ad10e10ad60c7cb8d4f30986cb1384f"><div class="ttname"><a href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">_rotator::park_el</a></div><div class="ttdeci">double park_el</div><div class="ttdoc">Park position for both axis. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00046">globals.h:46</a></div></div>
+<div class="ttc" id="struct__control_html_a97e0823512ecbf67560099811613002c"><div class="ttname"><a href="struct__control.html#a97e0823512ecbf67560099811613002c">_control::i</a></div><div class="ttdeci">double i</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="struct__rotator_html_a1bfde08392f85de45463f69b77c8120d"><div class="ttname"><a href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">_rotator::inside_temperature</a></div><div class="ttdeci">int8_t inside_temperature</div><div class="ttdoc">Inside Temperature. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00045">globals.h:45</a></div></div>
+<div class="ttc" id="struct__control_html_a42d481daff320ecacaa999a12e4b7412"><div class="ttname"><a href="struct__control.html#a42d481daff320ecacaa999a12e4b7412">_control::input_prv</a></div><div class="ttdeci">double input_prv</div><div class="ttdoc">T-1 Motor Position feedback in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00031">globals.h:31</a></div></div>
+<div class="ttc" id="struct__control_html_aba0fe925711333cc0910d439b589d175"><div class="ttname"><a href="struct__control.html#aba0fe925711333cc0910d439b589d175">_control::d</a></div><div class="ttdeci">double d</div><div class="ttdoc">Control gains. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
+<div class="ttc" id="struct__control_html_ac6968a0c314b5e6c1910fa2238b5e325"><div class="ttname"><a href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">_control::speed</a></div><div class="ttdeci">double speed</div><div class="ttdoc">Motor Rotation speed in deg/s. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00032">globals.h:32</a></div></div>
+<div class="ttc" id="struct__rotator_html"><div class="ttname"><a href="struct__rotator.html">_rotator</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00040">globals.h:40</a></div></div>
+<div class="ttc" id="struct__rotator_html_a5aee46515ac7930a9ae114b9c9c01d8c"><div class="ttname"><a href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">_rotator::fault_az</a></div><div class="ttdeci">uint8_t fault_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00047">globals.h:47</a></div></div>
+<div class="ttc" id="struct__control_html_a08308f27e459947c9692735b18aa2f04"><div class="ttname"><a href="struct__control.html#a08308f27e459947c9692735b18aa2f04">_control::setpoint_speed</a></div><div class="ttdeci">double setpoint_speed</div><div class="ttdoc">Speed set point in deg/s. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00034">globals.h:34</a></div></div>
+<div class="ttc" id="struct__rotator_html_ab6fce38c41558f84a92605b37c35837f"><div class="ttname"><a href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">_rotator::park_az</a></div><div class="ttdeci">double park_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00046">globals.h:46</a></div></div>
+<div class="ttc" id="struct__rotator_html_adf96afc711bf7075748f043b1b656311"><div class="ttname"><a href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">_rotator::homing_flag</a></div><div class="ttdeci">bool homing_flag</div><div class="ttdoc">Homing flag. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00044">globals.h:44</a></div></div>
+<div class="ttc" id="struct__rotator_html_ac2e58e190516589323db0255129cfe96"><div class="ttname"><a href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">_rotator::fault_el</a></div><div class="ttdeci">uint8_t fault_el</div><div class="ttdoc">Motor drivers fault flag. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00047">globals.h:47</a></div></div>
+<div class="ttc" id="struct__control_html_a4ab9d7afcc7a10368b5045b228f0e0bd"><div class="ttname"><a href="struct__control.html#a4ab9d7afcc7a10368b5045b228f0e0bd">_control::u</a></div><div class="ttdeci">double u</div><div class="ttdoc">Control signal range 0-255. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00036">globals.h:36</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb">wdt_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00022">globals.h:22</a></div></div>
+<div class="ttc" id="struct__rotator_html_a86308cdfcd35e4a153476bf09869a981"><div class="ttname"><a href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">_rotator::control_mode</a></div><div class="ttdeci">enum _control_mode control_mode</div><div class="ttdoc">Control mode. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00043">globals.h:43</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ab4be0aa0ed7631ee6c4a434c66cd86bf">moving</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="struct__control_html_aeb5b4a7fd5e9aa8ada410f568a0a87b4"><div class="ttname"><a href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">_control::load</a></div><div class="ttdeci">uint16_t load</div><div class="ttdoc">Motor Load in mA. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00035">globals.h:35</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a></div><div class="ttdeci">_rotator_error</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00020">globals.h:20</a></div></div>
+<div class="ttc" id="globals_8h_html_ade92ac8f94e642ce7708250d1235ae85"><div class="ttname"><a href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a></div><div class="ttdeci">_control control_el</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00054">globals.h:54</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a13da766a5299f2f7015a5922277088b4"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a13da766a5299f2f7015a5922277088b4">sensor_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
diff --git a/doxygen_files/html/globals_defs.html b/doxygen_files/html/globals_defs.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.14 -->
+<script type="text/javascript">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>A2
+: <a class="el" href="rotator__pins_8h.html#a2946bc30423c2a996eeafa49e995c30e">rotator_pins.h</a>
+</li>
+<li>A3
+: <a class="el" href="rotator__pins_8h.html#a48cdc6c9a75eb611d0a703c94bdac6b8">rotator_pins.h</a>
+</li>
+<li>AGC
+: <a class="el" href="as5601_8h.html#a6b14c0a97e1a526bf898cd24de183afb">as5601.h</a>
+</li>
+<li>AS5601_ID
+: <a class="el" href="as5601_8h.html#a25c5389b80876b6074ce88c6572b2296">as5601.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>BAUDRATE
+: <a class="el" href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">easycomm.h</a>
+</li>
+<li>BUFFER_SIZE
+: <a class="el" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">easycomm.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>CONF_HIGH
+: <a class="el" href="as5601_8h.html#a50a238669bcc55ea8d1e6cdc48cf0193">as5601.h</a>
+</li>
+<li>CONF_LOW
+: <a class="el" href="as5601_8h.html#a5a7b8dcb28f171791bc1d12c6fd88a7f">as5601.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>DEFAULT_HOME_STATE
+: <a class="el" href="dc__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">stepper_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>ENC_RATIO
+: <a class="el" href="dc__motor__controller_8ino.html#ac4f907593fd23cbef61e6c99a4f6a781">dc_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>HOME_DELAY
+: <a class="el" href="stepper__motor__controller_8ino.html#acf4a8c328d7d16e349494adf938d575c">stepper_motor_controller.ino</a>
+</li>
+<li>HOME_SPEED
+: <a class="el" href="dc__motor__controller_8ino.html#a7fb1602dc5cc8f75b91e38ea0e8ce5bd">dc_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>I2C_FREQ
+: <a class="el" href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">as5601.h</a>
+, <a class="el" href="i2c__mux_8h.html#a8b7500a141450a9df212017430c0df9e">i2c_mux.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>M1FB
+: <a class="el" href="rotator__pins_8h.html#a4e12c241b5699b8487b50dbda38a2714">rotator_pins.h</a>
+</li>
+<li>M1IN1
+: <a class="el" href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">rotator_pins.h</a>
+</li>
+<li>M1IN2
+: <a class="el" href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">rotator_pins.h</a>
+</li>
+<li>M1SF
+: <a class="el" href="rotator__pins_8h.html#a1bef437ea4477b69d7417946685cc582">rotator_pins.h</a>
+</li>
+<li>M2FB
+: <a class="el" href="rotator__pins_8h.html#a756234870d4fec1dfb965e5a4ef4b5cd">rotator_pins.h</a>
+</li>
+<li>M2IN1
+: <a class="el" href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">rotator_pins.h</a>
+</li>
+<li>M2IN2
+: <a class="el" href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">rotator_pins.h</a>
+</li>
+<li>M2SF
+: <a class="el" href="rotator__pins_8h.html#a84c33ece7372e98a2b47c81491a06474">rotator_pins.h</a>
+</li>
+<li>MAGNITUDE_HIGH
+: <a class="el" href="as5601_8h.html#a44cb76675b777aed3142556943702c80">as5601.h</a>
+</li>
+<li>MAGNITUDE_LOW
+: <a class="el" href="as5601_8h.html#a27977fa09cf94bdf6e6f0f3d78d29c2e">as5601.h</a>
+</li>
+<li>MAX_ACCELERATION
+: <a class="el" href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">stepper_motor_controller.ino</a>
+</li>
+<li>MAX_M1_ANGLE
+: <a class="el" href="dc__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">stepper_motor_controller.ino</a>
+</li>
+<li>MAX_M2_ANGLE
+: <a class="el" href="stepper__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">stepper_motor_controller.ino</a>
+, <a class="el" href="dc__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">dc_motor_controller.ino</a>
+</li>
+<li>MAX_PWM
+: <a class="el" href="dc__motor__controller_8ino.html#a1df990f1a1fc97b95e8d53f719968026">dc_motor_controller.ino</a>
+</li>
+<li>MAX_SPEED
+: <a class="el" href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">stepper_motor_controller.ino</a>
+</li>
+<li>MICROSTEP
+: <a class="el" href="stepper__motor__controller_8ino.html#aca9cca604052ac7a6f173b58b7d6e126">stepper_motor_controller.ino</a>
+</li>
+<li>MIN_M1_ANGLE
+: <a class="el" href="stepper__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">stepper_motor_controller.ino</a>
+, <a class="el" href="dc__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">dc_motor_controller.ino</a>
+</li>
+<li>MIN_M2_ANGLE
+: <a class="el" href="stepper__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">stepper_motor_controller.ino</a>
+, <a class="el" href="dc__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">dc_motor_controller.ino</a>
+</li>
+<li>MIN_PULSE_WIDTH
+: <a class="el" href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">stepper_motor_controller.ino</a>
+</li>
+<li>MIN_PWM
+: <a class="el" href="dc__motor__controller_8ino.html#a8507f3c11d3addead8ca0fbd55616c62">dc_motor_controller.ino</a>
+</li>
+<li>MOTOR_EN
+: <a class="el" href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">rotator_pins.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>OVER_TEMP
+: <a class="el" href="dc__motor__controller_8ino.html#adc250636bd54c7aa250dc02e87be44d3">dc_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>PCA9540_CH0
+: <a class="el" href="dc__motor__controller_8ino.html#a7d702f8ac756be3372676abde2bba4d1">dc_motor_controller.ino</a>
+</li>
+<li>PCA9540_CH1
+: <a class="el" href="dc__motor__controller_8ino.html#a474aca7989d2890727807058edc26bab">dc_motor_controller.ino</a>
+</li>
+<li>PCA9540_ID
+: <a class="el" href="dc__motor__controller_8ino.html#a38d90dee2ed358ec8876fd872c901708">dc_motor_controller.ino</a>
+</li>
+<li>PIN12
+: <a class="el" href="rotator__pins_8h.html#a0157ab3e88e2635fceafe002a02cec6e">rotator_pins.h</a>
+</li>
+<li>PIN13
+: <a class="el" href="rotator__pins_8h.html#a5a4d13c57f4d208901b04a7044774293">rotator_pins.h</a>
+</li>
+<li>POSITION_DEADZONE
+: <a class="el" href="dc__motor__controller_8ino.html#a962555911ea5b066ed756407100097eb">dc_motor_controller.ino</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>RATIO
+: <a class="el" href="dc__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">stepper_motor_controller.ino</a>
+</li>
+<li>RAW_ANG_HIGH
+: <a class="el" href="as5601_8h.html#a0f32fbf0619653f8582cfbb9b5022868">as5601.h</a>
+</li>
+<li>RAW_ANG_LOW
+: <a class="el" href="as5601_8h.html#a60e1d311be398853144f59e1d2a37be1">as5601.h</a>
+</li>
+<li>RS485_DIR
+: <a class="el" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">rotator_pins.h</a>
+</li>
+<li>RS485_TX_TIME
+: <a class="el" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">easycomm.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>SAMPLE_TIME
+: <a class="el" href="dc__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">dc_motor_controller.ino</a>
+, <a class="el" href="stepper__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">stepper_motor_controller.ino</a>
+</li>
+<li>SCL_PIN
+: <a class="el" href="rotator__pins_8h.html#a06c967e78bcedcee909a70764f879433">rotator_pins.h</a>
+</li>
+<li>SDA_PIN
+: <a class="el" href="rotator__pins_8h.html#a526d580d324bce60a3e964066fae77e3">rotator_pins.h</a>
+</li>
+<li>SPR
+: <a class="el" href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">stepper_motor_controller.ino</a>
+</li>
+<li>STATUS_REG
+: <a class="el" href="as5601_8h.html#a1f7e79cfe81dc06414550fa52418941e">as5601.h</a>
+</li>
+<li>SW1
+: <a class="el" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">rotator_pins.h</a>
+</li>
+<li>SW2
+: <a class="el" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">rotator_pins.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>TC74_AWAKE_COMMAND
+: <a class="el" href="tc74_8h.html#ad08dad0d1a91b91db4885beeeb645771">tc74.h</a>
+</li>
+<li>TC74_CONFIGURATION_REGISTER
+: <a class="el" href="tc74_8h.html#a6ba5fdf8b49e61a58c97feb5bc35f9e3">tc74.h</a>
+</li>
+<li>TC74_DATA_READY_FLAG
+: <a class="el" href="tc74_8h.html#ab77abc7de3ca9f3753905259d339069b">tc74.h</a>
+</li>
+<li>TC74_ID
+: <a class="el" href="dc__motor__controller_8ino.html#adc66ef1790bc83e927ba7e4f3686e65c">dc_motor_controller.ino</a>
+</li>
+<li>TC74_STANDBY_COMMAND
+: <a class="el" href="tc74_8h.html#a12e2bb5245f9bf9487853ad58c0b1011">tc74.h</a>
+</li>
+<li>TC74_TEMPERATURE_REGISTER
+: <a class="el" href="tc74_8h.html#ae96d6b2a5131b4f3943d894c30fb42fb">tc74.h</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
diff --git a/doxygen_files/html/globals_enum.html b/doxygen_files/html/globals_enum.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.14"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">Graph Legend</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line">/*! Invisible class because of truncation */</div><div class="line">class Invisible { };</div><div class="line"></div><div class="line">/*! Truncated class, inheritance relation is hidden */</div><div class="line">class Truncated : public Invisible { };</div><div class="line"></div><div class="line">/* Class not documented with doxygen comments */</div><div class="line">class Undocumented { };</div><div class="line"></div><div class="line">/*! Class that is inherited using public inheritance */</div><div class="line">class PublicBase : public Truncated { };</div><div class="line"></div><div class="line">/*! A template class */</div><div class="line">template&lt;class T&gt; class Templ { };</div><div class="line"></div><div class="line">/*! Class that is inherited using protected inheritance */</div><div class="line">class ProtectedBase { };</div><div class="line"></div><div class="line">/*! Class that is inherited using private inheritance */</div><div class="line">class PrivateBase { };</div><div class="line"></div><div class="line">/*! Class that is used by the Inherited class */</div><div class="line">class Used { };</div><div class="line"></div><div class="line">/*! Super class that inherits a number of other classes */</div><div class="line">class Inherited : public PublicBase,</div><div class="line">                  protected ProtectedBase,</div><div class="line">                  private PrivateBase,</div><div class="line">                  public Undocumented,</div><div class="line">                  public Templ&lt;int&gt;</div><div class="line">{</div><div class="line">  private:</div><div class="line">    Used *m_usedClass;</div><div class="line">};</div></div><!-- fragment --><p> This will result in the following graph:</p>
+<center><div class="image">
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+</center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
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+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
+</ul>
+<p>The arrows have the following meaning: </p>
+<ul>
+<li>
+A dark blue arrow is used to visualize a public inheritance relation between two classes. </li>
+<li>
+A dark green arrow is used for protected inheritance. </li>
+<li>
+A dark red arrow is used for private inheritance. </li>
+<li>
+A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible. </li>
+<li>
+A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance. </li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
+</html>
diff --git a/doxygen_files/html/graph_legend.md5 b/doxygen_files/html/graph_legend.md5
new file mode 100644
index 0000000..a06ed05
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+<a href="i2c__mux_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef I2C_MUX_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define I2C_MUX_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Wire.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="i2c__mux_8h.html#a8b7500a141450a9df212017430c0df9e">   15</a></span>&#160;<span class="preprocessor">#define I2C_FREQ 100000</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classi2c__mux.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classi2c__mux.html">i2c_mux</a> {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classi2c__mux.html#aacb992d29412ed15eb0b8b1983dcf976">   31</a></span>&#160; 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   uint8_t <a class="code" href="classi2c__mux.html#ad56c7d14d6638caa0bccce4d609256c6">_id</a>, <a class="code" href="classi2c__mux.html#acca9a43816973b7471017cbc1d6fd70a">_ch0</a>, <a class="code" href="classi2c__mux.html#a3aa95a560e46d8a078ca2fd2eeb4dab4">_ch1</a>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;};</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* I2C_MUX_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="i2c__mux_8h_html_a8b7500a141450a9df212017430c0df9e"><div class="ttname"><a href="i2c__mux_8h.html#a8b7500a141450a9df212017430c0df9e">I2C_FREQ</a></div><div class="ttdeci">#define I2C_FREQ</div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00015">i2c_mux.h:15</a></div></div>
+<div class="ttc" id="classi2c__mux_html_ad56c7d14d6638caa0bccce4d609256c6"><div class="ttname"><a href="classi2c__mux.html#ad56c7d14d6638caa0bccce4d609256c6">i2c_mux::_id</a></div><div class="ttdeci">uint8_t _id</div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00067">i2c_mux.h:67</a></div></div>
+<div class="ttc" id="classi2c__mux_html_aacb992d29412ed15eb0b8b1983dcf976"><div class="ttname"><a href="classi2c__mux.html#aacb992d29412ed15eb0b8b1983dcf976">i2c_mux::i2c_mux</a></div><div class="ttdeci">i2c_mux(uint8_t id, uint8_t ch0, uint8_t ch1)</div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00031">i2c_mux.h:31</a></div></div>
+<div class="ttc" id="classi2c__mux_html_af4a7327c09d2f0ea8ee5a5797871e876"><div class="ttname"><a href="classi2c__mux.html#af4a7327c09d2f0ea8ee5a5797871e876">i2c_mux::set_channel</a></div><div class="ttdeci">void set_channel(uint8_t ch)</div><div class="ttdoc">Change the channel. </div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00054">i2c_mux.h:54</a></div></div>
+<div class="ttc" id="classi2c__mux_html"><div class="ttname"><a href="classi2c__mux.html">i2c_mux</a></div><div class="ttdoc">Class that functions for interacting with I2C 1-of-2 multiplexer. </div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00028">i2c_mux.h:28</a></div></div>
+<div class="ttc" id="classi2c__mux_html_a3aa95a560e46d8a078ca2fd2eeb4dab4"><div class="ttname"><a href="classi2c__mux.html#a3aa95a560e46d8a078ca2fd2eeb4dab4">i2c_mux::_ch1</a></div><div class="ttdeci">uint8_t _ch1</div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00067">i2c_mux.h:67</a></div></div>
+<div class="ttc" id="classi2c__mux_html_acca9a43816973b7471017cbc1d6fd70a"><div class="ttname"><a href="classi2c__mux.html#acca9a43816973b7471017cbc1d6fd70a">i2c_mux::_ch0</a></div><div class="ttdeci">uint8_t _ch0</div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00067">i2c_mux.h:67</a></div></div>
+<div class="ttc" id="classi2c__mux_html_a297c753f7c9fd03b7a6be09a7d3bd87a"><div class="ttname"><a href="classi2c__mux.html#a297c753f7c9fd03b7a6be09a7d3bd87a">i2c_mux::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialize the I2C bus. </div><div class="ttdef"><b>Definition:</b> <a href="i2c__mux_8h_source.html#l00042">i2c_mux.h:42</a></div></div>
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+<div class="title">SatNOGS Rotator Firmware </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>Firmware <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware">SatNOGS Rotator Controller</a>.</p>
+<p>Repository includes all source files for the SatNOGS rotator controller Firmware.</p>
+<p>Electronics can be found on <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller">satnogs-rotator-controller</a></p>
+<h2>Instructions</h2>
+<p>In order to use this code, you need to install</p><ul>
+<li><a href="http://www.airspayce.com/mikem/arduino/AccelStepper/index.html">AccelStepper library</a></li>
+<li><a href="https://github.com/br3ttb/Arduino-PID-Library">PID_v1 library</a></li>
+<li>Wire library</li>
+</ul>
+<p>You need to choose the version of the Firmware you will be utilizing based on your controller and rotator setup. Namely we have two different versions (one for DC motors and one for Stepper motors).</p>
+<h5>Steps</h5>
+<ul>
+<li>Download arduino IDE (tested with 1.8.5)</li>
+<li>Add these lines in /arduino-1.8.5/hardware/arduino/avr/boards.txt</li>
+</ul>
+<div class="fragment"><div class="line">##############################################################</div><div class="line">satnogs.name=SatNOGS</div><div class="line">satnogs.upload.tool=avrdude</div><div class="line">satnogs.upload.protocol=buspirate</div><div class="line">satnogs.upload.maximum_size=32256</div><div class="line">satnogs.upload.maximum_data_size=2048</div><div class="line">satnogs.upload.speed=115200</div><div class="line"></div><div class="line">satnogs.bootloader.tool=avrdude</div><div class="line">satnogs.bootloader.low_fuses=0xFF</div><div class="line">satnogs.bootloader.high_fuses=0xDE</div><div class="line">satnogs.bootloader.extended_fuses=0xFD</div><div class="line">satnogs.bootloader.unlock_bits=0x3F</div><div class="line">satnogs.bootloader.lock_bits=0x0F</div><div class="line">satnogs.bootloader.file=optiboot/optiboot_atmega328.hex</div><div class="line"></div><div class="line">satnogs.build.mcu=atmega328p</div><div class="line">satnogs.build.f_cpu=16000000L</div><div class="line">satnogs.build.board=AVR_SATNOGS</div><div class="line">satnogs.build.core=arduino</div><div class="line">satnogs.build.variant=eightanaloginputs</div><div class="line">##############################################################</div></div><!-- fragment --><ul>
+<li>Install <a href="https://github.com/sudar/Arduino-Makefile">Arduino-Makefile</a></li>
+</ul>
+<div class="fragment"><div class="line">ARDUINO_DIR – Directory where Arduino is installed</div><div class="line">ARDMK_DIR – Directory where you have copied the makefile</div><div class="line">AVR_TOOLS_DIR – Directory where avr tools are installed</div><div class="line">USER_LIB_PATH – Directory where arduino libraries are installed</div><div class="line">AVRDUDE – Directory where avrdude are installed</div><div class="line">AVRDUDE_ARD_BAUDRATE – Serial Baudrate (uncomment to use 57600 for FTDI)</div><div class="line">include – Directory where Arduino.mk are installed</div></div><!-- fragment --><ul>
+<li>Build the code</li>
+</ul>
+<div class="fragment"><div class="line">make</div></div><!-- fragment --><ul>
+<li>Upload using ISP<ul>
+<li>Connect <a href="https://www.arduino.cc/en/Tutorial/ArduinoISP">arduino</a> or buspirate for ISP programming<ol type="1">
+<li>Pin 13 (SCK) to Pin 13 of arduino pro mini, ISP connector</li>
+<li>Pin 12 (MISO) to Pin 12 of arduino pro mini, ISP connector</li>
+<li>Pin 11 (MOSI) to Pin 11 of arduino pro mini, ISP connector</li>
+<li>Pin 10 (RESET) to Pin RST of arduino pro mini, ISP connector</li>
+<li>5+ (Vcc) to Pin VCC of arduino pro mini, ISP connector</li>
+<li>Gnd (Gnd) to Pin GND of arduino pro mini, ISP connector</li>
+</ol>
+</li>
+</ul>
+</li>
+<li>BusPirate</li>
+</ul>
+<div class="fragment"><div class="line">satnogs.upload.protocol=buspirate (in board.txt)</div><div class="line">ISP_PROG = buspirate (in Makefile)</div></div><!-- fragment --> <div class="fragment"><div class="line">make ispload</div></div><!-- fragment --><ul>
+<li><a href="https://www.arduino.cc/en/Tutorial/ArduinoISP">Arduino</a></li>
+</ul>
+<div class="fragment"><div class="line">satnogs.upload.protocol=arduino (in board.txt)</div><div class="line">ISP_PROG = arduino (in Makefile)</div></div><!-- fragment --><div class="fragment"><div class="line">make ispload</div></div><!-- fragment --><ul>
+<li>Upload using FDTI, but is necessary to uninstall arduino pro-mini from board</li>
+</ul>
+<p>Connect <a href="https://learn.sparkfun.com/tutorials/using-the-arduino-pro-mini-33v">FTDI</a></p>
+<div class="fragment"><div class="line">satnogs.upload.protocol=arduino (in board.txt)</div></div><!-- fragment --> <div class="fragment"><div class="line">make upload</div></div><!-- fragment --><ul>
+<li>Burn optiboot</li>
+</ul>
+<p>Only with ISP programming </p><pre class="fragment">* Arduino as ISP
+* BusPirate as ISP
+</pre><div class="fragment"><div class="line">make burn_bootloader</div></div><!-- fragment --><h2>Easycomm implemantation</h2>
+<ul>
+<li>AZ, Azimuth, number - 1 decimal place [deg]</li>
+<li>EL, Elevation, number - 1 decimal place [deg]</li>
+<li>SA, Stop azimuth moving</li>
+<li>SE, Stop elevation moving</li>
+<li>RESET, Move to home position</li>
+<li>PARK, Move to park position</li>
+<li>IP, Read an input, number<ul>
+<li>Temperature = 0</li>
+<li>SW1 = 1</li>
+<li>SW2 = 2</li>
+<li>Encoder1 = 3</li>
+<li>Encoder2 = 4</li>
+<li>Load of M1/AZ = 5</li>
+<li>Load of M2/EL = 6</li>
+<li>Speed of M1/AZ (DPS) = 7</li>
+<li>Speed of M2/EL (DPS) = 8</li>
+</ul>
+</li>
+<li>VE, Request Version</li>
+<li>GS, Get status register, number<ul>
+<li>idle = 1</li>
+<li>moving = 2</li>
+<li>pointing = 4</li>
+<li>error = 8</li>
+</ul>
+</li>
+<li>GE, Get error register, number<ul>
+<li>no_error = 1</li>
+<li>sensor_error = 2</li>
+<li>homing_error = 4</li>
+<li>motor_error = 8</li>
+<li>over_temperature = 12</li>
+<li>wdt_error = 16</li>
+</ul>
+</li>
+<li>VL, Velocity Left ,number [mdeg/s]</li>
+<li>VR, Velocity Right, number [mdeg/s]</li>
+<li>VU, Velocity Up, number [mdeg/s]</li>
+<li>VD, Velocity Down, number [mdeg/s]</li>
+<li>CR, Read config, register [0-x]<ul>
+<li>Gain P for M1/AZ = 1</li>
+<li>Gain I for M1/AZ = 2</li>
+<li>Gain D for M1/AZ = 3</li>
+<li>Gain P for M2/EL = 4</li>
+<li>Gain I for M2/EL = 5</li>
+<li>Gain D for M2/EL = 6</li>
+<li>Azimuth park position = 7</li>
+<li>Elevation park position = 8</li>
+<li>Control mode (position = 0, speed = 1) = 9</li>
+</ul>
+</li>
+<li>CW, Write config, register [0-x]<ul>
+<li>Gain P for M1/AZ = 1</li>
+<li>Gain I for M1/AZ = 2</li>
+<li>Gain D for M1/AZ = 3</li>
+<li>Gain P for M2/EL = 4</li>
+<li>Gain I for M2/EL = 5</li>
+<li>Gain D for M2/EL = 6</li>
+<li>Azimuth park position = 7</li>
+<li>Elevation park position = 8</li>
+<li>This reg is set from Vx commands control mode (position = 0, speed = 1) = 9</li>
+</ul>
+</li>
+<li>RB, custom command to reboot controller</li>
+</ul>
+<h2>Controller Configurations</h2>
+<ul>
+<li>Stepper Motor<ul>
+<li>Endstops</li>
+<li>Encoders, optional</li>
+<li>UART or R485 (For both options the firmware is the same)</li>
+</ul>
+</li>
+<li>DC Motor<ul>
+<li>Endstops</li>
+<li>Encoders</li>
+<li>UART or RS485 (For both options the firmware is the same)</li>
+</ul>
+</li>
+</ul>
+<h2>Pins Configuration</h2>
+<div class="fragment"><div class="line">M1IN1 10, Step or PWM1</div><div class="line">M1IN2 9, Direction or PWM2</div><div class="line">M1SF  7, Status flag</div><div class="line">M1FB  A1, Load measurment</div><div class="line"></div><div class="line">M2IN1 11, Step or PWM1</div><div class="line">M2IN2 3, Direction or PWM2</div><div class="line">M2SF  6, Status flag</div><div class="line">M2FB  A0, Load measurment</div><div class="line"></div><div class="line">MOTOR_EN 8, Enable/Disable motors</div><div class="line"></div><div class="line">SW1 5, Endstop for axis 1</div><div class="line">SW2 4, Endstop for axis 2</div><div class="line"></div><div class="line">RS485_DIR 2, RS485 Half Duplex direction pin</div><div class="line"></div><div class="line">SDA_PIN 3, Data I2C pin</div><div class="line">SCL_PIN 4, Clock I2C pin</div><div class="line"></div><div class="line">PIN12 12, Digital output pin</div><div class="line">PIN13 13, Digital output pin</div><div class="line">A2    A2, Analog input pin</div><div class="line">A3    A3, Analog input pin</div></div><!-- fragment --><h2>Testing with hamlib - rotctl or with Serial Monitor</h2>
+<p>Connect the PC with contreller via UART to USB or RS485 to USB by using the right converter (as described in <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller/blob/master/satnogs-rotator-controller-bom.ods">rotator controller BOM</a>). For both options must be soldered the suitable components as descrided in <a href="https://wiki.satnogs.org/SatNOGS_Rotator_Controller">rotator controller wiki page</a>.</p>
+<p>Use commands of rotctl:</p>
+<div class="fragment"><div class="line">rotctl -m 204 -s 19200 -r /dev/ttyUSB1 -vvvvv</div></div><!-- fragment --><p>Replace the /dev/ttyUSB1 with the device which is connected to PC.</p>
+<p>Use commands of easycomm 3:</p>
+<p>Send directly commands of easycomm 3 as described in Easycomm implemantation section.</p>
+<h2>Contribute</h2>
+<p>The main repository lives on <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware">Gitlab</a> and all Merge Request should happen there.</p>
+<h2>License</h2>
+<p><a href="https://librespacefoundation.org/"></a></p>
+<p>Licensed under the [GPLv3](LICENSE) </p>
+</div></div><!-- contents -->
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+ * http://sizzlejs.com/
+ * Copyright 2011, The Dojo Foundation
+ * Released under the MIT, BSD, and GPL Licenses.
+ *
+ * Date: Mon Nov 21 21:11:03 2011 -0500
+ */
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+/*!
+ * Sizzle CSS Selector Engine
+ *  Copyright 2011, The Dojo Foundation
+ *  Released under the MIT, BSD, and GPL Licenses.
+ *  More information: http://sizzlejs.com/
+ */
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+ * jQuery UI 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI
+ */
+(function(a,d){a.ui=a.ui||{};if(a.ui.version){return}a.extend(a.ui,{version:"1.8.18",keyCode:{ALT:18,BACKSPACE:8,CAPS_LOCK:20,COMMA:188,COMMAND:91,COMMAND_LEFT:91,COMMAND_RIGHT:93,CONTROL:17,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,INSERT:45,LEFT:37,MENU:93,NUMPAD_ADD:107,NUMPAD_DECIMAL:110,NUMPAD_DIVIDE:111,NUMPAD_ENTER:108,NUMPAD_MULTIPLY:106,NUMPAD_SUBTRACT:109,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SHIFT:16,SPACE:32,TAB:9,UP:38,WINDOWS:91}});a.fn.extend({propAttr:a.fn.prop||a.fn.attr,_focus:a.fn.focus,focus:function(e,f){return typeof e==="number"?this.each(function(){var g=this;setTimeout(function(){a(g).focus();if(f){f.call(g)}},e)}):this._focus.apply(this,arguments)},scrollParent:function(){var e;if((a.browser.msie&&(/(static|relative)/).test(this.css("position")))||(/absolute/).test(this.css("position"))){e=this.parents().filter(function(){return(/(relative|absolute|fixed)/).test(a.curCSS(this,"position",1))&&(/(auto|scroll)/).test(a.curCSS(this,"overflow",1)+a.curCSS(this,"overflow-y",1)+a.curCSS(this,"overflow-x",1))}).eq(0)}else{e=this.parents().filter(function(){return(/(auto|scroll)/).test(a.curCSS(this,"overflow",1)+a.curCSS(this,"overflow-y",1)+a.curCSS(this,"overflow-x",1))}).eq(0)}return(/fixed/).test(this.css("position"))||!e.length?a(document):e},zIndex:function(h){if(h!==d){return this.css("zIndex",h)}if(this.length){var f=a(this[0]),e,g;while(f.length&&f[0]!==document){e=f.css("position");if(e==="absolute"||e==="relative"||e==="fixed"){g=parseInt(f.css("zIndex"),10);if(!isNaN(g)&&g!==0){return g}}f=f.parent()}}return 0},disableSelection:function(){return this.bind((a.support.selectstart?"selectstart":"mousedown")+".ui-disableSelection",function(e){e.preventDefault()})},enableSelection:function(){return this.unbind(".ui-disableSelection")}});a.each(["Width","Height"],function(g,e){var f=e==="Width"?["Left","Right"]:["Top","Bottom"],h=e.toLowerCase(),k={innerWidth:a.fn.innerWidth,innerHeight:a.fn.innerHeight,outerWidth:a.fn.outerWidth,outerHeight:a.fn.outerHeight};function j(m,l,i,n){a.each(f,function(){l-=parseFloat(a.curCSS(m,"padding"+this,true))||0;if(i){l-=parseFloat(a.curCSS(m,"border"+this+"Width",true))||0}if(n){l-=parseFloat(a.curCSS(m,"margin"+this,true))||0}});return l}a.fn["inner"+e]=function(i){if(i===d){return k["inner"+e].call(this)}return this.each(function(){a(this).css(h,j(this,i)+"px")})};a.fn["outer"+e]=function(i,l){if(typeof i!=="number"){return k["outer"+e].call(this,i)}return this.each(function(){a(this).css(h,j(this,i,true,l)+"px")})}});function c(g,e){var j=g.nodeName.toLowerCase();if("area"===j){var i=g.parentNode,h=i.name,f;if(!g.href||!h||i.nodeName.toLowerCase()!=="map"){return false}f=a("img[usemap=#"+h+"]")[0];return !!f&&b(f)}return(/input|select|textarea|button|object/.test(j)?!g.disabled:"a"==j?g.href||e:e)&&b(g)}function b(e){return !a(e).parents().andSelf().filter(function(){return a.curCSS(this,"visibility")==="hidden"||a.expr.filters.hidden(this)}).length}a.extend(a.expr[":"],{data:function(g,f,e){return !!a.data(g,e[3])},focusable:function(e){return c(e,!isNaN(a.attr(e,"tabindex")))},tabbable:function(g){var e=a.attr(g,"tabindex"),f=isNaN(e);return(f||e>=0)&&c(g,!f)}});a(function(){var e=document.body,f=e.appendChild(f=document.createElement("div"));f.offsetHeight;a.extend(f.style,{minHeight:"100px",height:"auto",padding:0,borderWidth:0});a.support.minHeight=f.offsetHeight===100;a.support.selectstart="onselectstart" in f;e.removeChild(f).style.display="none"});a.extend(a.ui,{plugin:{add:function(f,g,j){var h=a.ui[f].prototype;for(var e in j){h.plugins[e]=h.plugins[e]||[];h.plugins[e].push([g,j[e]])}},call:function(e,g,f){var j=e.plugins[g];if(!j||!e.element[0].parentNode){return}for(var h=0;h<j.length;h++){if(e.options[j[h][0]]){j[h][1].apply(e.element,f)}}}},contains:function(f,e){return document.compareDocumentPosition?f.compareDocumentPosition(e)&16:f!==e&&f.contains(e)},hasScroll:function(h,f){if(a(h).css("overflow")==="hidden"){return false}var e=(f&&f==="left")?"scrollLeft":"scrollTop",g=false;if(h[e]>0){return true}h[e]=1;g=(h[e]>0);h[e]=0;return g},isOverAxis:function(f,e,g){return(f>e)&&(f<(e+g))},isOver:function(j,f,i,h,e,g){return a.ui.isOverAxis(j,i,e)&&a.ui.isOverAxis(f,h,g)}})})(jQuery);/*!
+ * jQuery UI Widget 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI/Widget
+ */
+(function(b,d){if(b.cleanData){var c=b.cleanData;b.cleanData=function(f){for(var g=0,h;(h=f[g])!=null;g++){try{b(h).triggerHandler("remove")}catch(j){}}c(f)}}else{var a=b.fn.remove;b.fn.remove=function(e,f){return this.each(function(){if(!f){if(!e||b.filter(e,[this]).length){b("*",this).add([this]).each(function(){try{b(this).triggerHandler("remove")}catch(g){}})}}return a.call(b(this),e,f)})}}b.widget=function(f,h,e){var g=f.split(".")[0],j;f=f.split(".")[1];j=g+"-"+f;if(!e){e=h;h=b.Widget}b.expr[":"][j]=function(k){return !!b.data(k,f)};b[g]=b[g]||{};b[g][f]=function(k,l){if(arguments.length){this._createWidget(k,l)}};var i=new h();i.options=b.extend(true,{},i.options);b[g][f].prototype=b.extend(true,i,{namespace:g,widgetName:f,widgetEventPrefix:b[g][f].prototype.widgetEventPrefix||f,widgetBaseClass:j},e);b.widget.bridge(f,b[g][f])};b.widget.bridge=function(f,e){b.fn[f]=function(i){var g=typeof i==="string",h=Array.prototype.slice.call(arguments,1),j=this;i=!g&&h.length?b.extend.apply(null,[true,i].concat(h)):i;if(g&&i.charAt(0)==="_"){return j}if(g){this.each(function(){var k=b.data(this,f),l=k&&b.isFunction(k[i])?k[i].apply(k,h):k;if(l!==k&&l!==d){j=l;return false}})}else{this.each(function(){var k=b.data(this,f);if(k){k.option(i||{})._init()}else{b.data(this,f,new e(i,this))}})}return j}};b.Widget=function(e,f){if(arguments.length){this._createWidget(e,f)}};b.Widget.prototype={widgetName:"widget",widgetEventPrefix:"",options:{disabled:false},_createWidget:function(f,g){b.data(g,this.widgetName,this);this.element=b(g);this.options=b.extend(true,{},this.options,this._getCreateOptions(),f);var e=this;this.element.bind("remove."+this.widgetName,function(){e.destroy()});this._create();this._trigger("create");this._init()},_getCreateOptions:function(){return b.metadata&&b.metadata.get(this.element[0])[this.widgetName]},_create:function(){},_init:function(){},destroy:function(){this.element.unbind("."+this.widgetName).removeData(this.widgetName);this.widget().unbind("."+this.widgetName).removeAttr("aria-disabled").removeClass(this.widgetBaseClass+"-disabled ui-state-disabled")},widget:function(){return this.element},option:function(f,g){var e=f;if(arguments.length===0){return b.extend({},this.options)}if(typeof f==="string"){if(g===d){return this.options[f]}e={};e[f]=g}this._setOptions(e);return this},_setOptions:function(f){var e=this;b.each(f,function(g,h){e._setOption(g,h)});return this},_setOption:function(e,f){this.options[e]=f;if(e==="disabled"){this.widget()[f?"addClass":"removeClass"](this.widgetBaseClass+"-disabled ui-state-disabled").attr("aria-disabled",f)}return this},enable:function(){return this._setOption("disabled",false)},disable:function(){return this._setOption("disabled",true)},_trigger:function(e,f,g){var j,i,h=this.options[e];g=g||{};f=b.Event(f);f.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase();f.target=this.element[0];i=f.originalEvent;if(i){for(j in i){if(!(j in f)){f[j]=i[j]}}}this.element.trigger(f,g);return !(b.isFunction(h)&&h.call(this.element[0],f,g)===false||f.isDefaultPrevented())}}})(jQuery);/*!
+ * jQuery UI Mouse 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI/Mouse
+ *
+ * Depends:
+ *	jquery.ui.widget.js
+ */
+(function(b,c){var a=false;b(document).mouseup(function(d){a=false});b.widget("ui.mouse",{options:{cancel:":input,option",distance:1,delay:0},_mouseInit:function(){var d=this;this.element.bind("mousedown."+this.widgetName,function(e){return d._mouseDown(e)}).bind("click."+this.widgetName,function(e){if(true===b.data(e.target,d.widgetName+".preventClickEvent")){b.removeData(e.target,d.widgetName+".preventClickEvent");e.stopImmediatePropagation();return false}});this.started=false},_mouseDestroy:function(){this.element.unbind("."+this.widgetName)},_mouseDown:function(f){if(a){return}(this._mouseStarted&&this._mouseUp(f));this._mouseDownEvent=f;var e=this,g=(f.which==1),d=(typeof this.options.cancel=="string"&&f.target.nodeName?b(f.target).closest(this.options.cancel).length:false);if(!g||d||!this._mouseCapture(f)){return true}this.mouseDelayMet=!this.options.delay;if(!this.mouseDelayMet){this._mouseDelayTimer=setTimeout(function(){e.mouseDelayMet=true},this.options.delay)}if(this._mouseDistanceMet(f)&&this._mouseDelayMet(f)){this._mouseStarted=(this._mouseStart(f)!==false);if(!this._mouseStarted){f.preventDefault();return true}}if(true===b.data(f.target,this.widgetName+".preventClickEvent")){b.removeData(f.target,this.widgetName+".preventClickEvent")}this._mouseMoveDelegate=function(h){return e._mouseMove(h)};this._mouseUpDelegate=function(h){return e._mouseUp(h)};b(document).bind("mousemove."+this.widgetName,this._mouseMoveDelegate).bind("mouseup."+this.widgetName,this._mouseUpDelegate);f.preventDefault();a=true;return true},_mouseMove:function(d){if(b.browser.msie&&!(document.documentMode>=9)&&!d.button){return this._mouseUp(d)}if(this._mouseStarted){this._mouseDrag(d);return d.preventDefault()}if(this._mouseDistanceMet(d)&&this._mouseDelayMet(d)){this._mouseStarted=(this._mouseStart(this._mouseDownEvent,d)!==false);(this._mouseStarted?this._mouseDrag(d):this._mouseUp(d))}return !this._mouseStarted},_mouseUp:function(d){b(document).unbind("mousemove."+this.widgetName,this._mouseMoveDelegate).unbind("mouseup."+this.widgetName,this._mouseUpDelegate);if(this._mouseStarted){this._mouseStarted=false;if(d.target==this._mouseDownEvent.target){b.data(d.target,this.widgetName+".preventClickEvent",true)}this._mouseStop(d)}return false},_mouseDistanceMet:function(d){return(Math.max(Math.abs(this._mouseDownEvent.pageX-d.pageX),Math.abs(this._mouseDownEvent.pageY-d.pageY))>=this.options.distance)},_mouseDelayMet:function(d){return this.mouseDelayMet},_mouseStart:function(d){},_mouseDrag:function(d){},_mouseStop:function(d){},_mouseCapture:function(d){return true}})})(jQuery);(function(c,d){c.widget("ui.resizable",c.ui.mouse,{widgetEventPrefix:"resize",options:{alsoResize:false,animate:false,animateDuration:"slow",animateEasing:"swing",aspectRatio:false,autoHide:false,containment:false,ghost:false,grid:false,handles:"e,s,se",helper:false,maxHeight:null,maxWidth:null,minHeight:10,minWidth:10,zIndex:1000},_create:function(){var f=this,k=this.options;this.element.addClass("ui-resizable");c.extend(this,{_aspectRatio:!!(k.aspectRatio),aspectRatio:k.aspectRatio,originalElement:this.element,_proportionallyResizeElements:[],_helper:k.helper||k.ghost||k.animate?k.helper||"ui-resizable-helper":null});if(this.element[0].nodeName.match(/canvas|textarea|input|select|button|img/i)){this.element.wrap(c('<div class="ui-wrapper" style="overflow: hidden;"></div>').css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")}));this.element=this.element.parent().data("resizable",this.element.data("resizable"));this.elementIsWrapper=true;this.element.css({marginLeft:this.originalElement.css("marginLeft"),marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom")});this.originalElement.css({marginLeft:0,marginTop:0,marginRight:0,marginBottom:0});this.originalResizeStyle=this.originalElement.css("resize");this.originalElement.css("resize","none");this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"}));this.originalElement.css({margin:this.originalElement.css("margin")});this._proportionallyResize()}this.handles=k.handles||(!c(".ui-resizable-handle",this.element).length?"e,s,se":{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"});if(this.handles.constructor==String){if(this.handles=="all"){this.handles="n,e,s,w,se,sw,ne,nw"}var l=this.handles.split(",");this.handles={};for(var g=0;g<l.length;g++){var j=c.trim(l[g]),e="ui-resizable-"+j;var h=c('<div class="ui-resizable-handle '+e+'"></div>');if(/sw|se|ne|nw/.test(j)){h.css({zIndex:++k.zIndex})}if("se"==j){h.addClass("ui-icon ui-icon-gripsmall-diagonal-se")}this.handles[j]=".ui-resizable-"+j;this.element.append(h)}}this._renderAxis=function(q){q=q||this.element;for(var n in this.handles){if(this.handles[n].constructor==String){this.handles[n]=c(this.handles[n],this.element).show()}if(this.elementIsWrapper&&this.originalElement[0].nodeName.match(/textarea|input|select|button/i)){var o=c(this.handles[n],this.element),p=0;p=/sw|ne|nw|se|n|s/.test(n)?o.outerHeight():o.outerWidth();var m=["padding",/ne|nw|n/.test(n)?"Top":/se|sw|s/.test(n)?"Bottom":/^e$/.test(n)?"Right":"Left"].join("");q.css(m,p);this._proportionallyResize()}if(!c(this.handles[n]).length){continue}}};this._renderAxis(this.element);this._handles=c(".ui-resizable-handle",this.element).disableSelection();this._handles.mouseover(function(){if(!f.resizing){if(this.className){var i=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)}f.axis=i&&i[1]?i[1]:"se"}});if(k.autoHide){this._handles.hide();c(this.element).addClass("ui-resizable-autohide").hover(function(){if(k.disabled){return}c(this).removeClass("ui-resizable-autohide");f._handles.show()},function(){if(k.disabled){return}if(!f.resizing){c(this).addClass("ui-resizable-autohide");f._handles.hide()}})}this._mouseInit()},destroy:function(){this._mouseDestroy();var e=function(g){c(g).removeClass("ui-resizable ui-resizable-disabled ui-resizable-resizing").removeData("resizable").unbind(".resizable").find(".ui-resizable-handle").remove()};if(this.elementIsWrapper){e(this.element);var f=this.element;f.after(this.originalElement.css({position:f.css("position"),width:f.outerWidth(),height:f.outerHeight(),top:f.css("top"),left:f.css("left")})).remove()}this.originalElement.css("resize",this.originalResizeStyle);e(this.originalElement);return this},_mouseCapture:function(f){var g=false;for(var e in this.handles){if(c(this.handles[e])[0]==f.target){g=true}}return !this.options.disabled&&g},_mouseStart:function(g){var j=this.options,f=this.element.position(),e=this.element;this.resizing=true;this.documentScroll={top:c(document).scrollTop(),left:c(document).scrollLeft()};if(e.is(".ui-draggable")||(/absolute/).test(e.css("position"))){e.css({position:"absolute",top:f.top,left:f.left})}this._renderProxy();var k=b(this.helper.css("left")),h=b(this.helper.css("top"));if(j.containment){k+=c(j.containment).scrollLeft()||0;h+=c(j.containment).scrollTop()||0}this.offset=this.helper.offset();this.position={left:k,top:h};this.size=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalSize=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalPosition={left:k,top:h};this.sizeDiff={width:e.outerWidth()-e.width(),height:e.outerHeight()-e.height()};this.originalMousePosition={left:g.pageX,top:g.pageY};this.aspectRatio=(typeof j.aspectRatio=="number")?j.aspectRatio:((this.originalSize.width/this.originalSize.height)||1);var i=c(".ui-resizable-"+this.axis).css("cursor");c("body").css("cursor",i=="auto"?this.axis+"-resize":i);e.addClass("ui-resizable-resizing");this._propagate("start",g);return true},_mouseDrag:function(e){var h=this.helper,g=this.options,m={},q=this,j=this.originalMousePosition,n=this.axis;var r=(e.pageX-j.left)||0,p=(e.pageY-j.top)||0;var i=this._change[n];if(!i){return false}var l=i.apply(this,[e,r,p]),k=c.browser.msie&&c.browser.version<7,f=this.sizeDiff;this._updateVirtualBoundaries(e.shiftKey);if(this._aspectRatio||e.shiftKey){l=this._updateRatio(l,e)}l=this._respectSize(l,e);this._propagate("resize",e);h.css({top:this.position.top+"px",left:this.position.left+"px",width:this.size.width+"px",height:this.size.height+"px"});if(!this._helper&&this._proportionallyResizeElements.length){this._proportionallyResize()}this._updateCache(l);this._trigger("resize",e,this.ui());return false},_mouseStop:function(h){this.resizing=false;var i=this.options,m=this;if(this._helper){var g=this._proportionallyResizeElements,e=g.length&&(/textarea/i).test(g[0].nodeName),f=e&&c.ui.hasScroll(g[0],"left")?0:m.sizeDiff.height,k=e?0:m.sizeDiff.width;var n={width:(m.helper.width()-k),height:(m.helper.height()-f)},j=(parseInt(m.element.css("left"),10)+(m.position.left-m.originalPosition.left))||null,l=(parseInt(m.element.css("top"),10)+(m.position.top-m.originalPosition.top))||null;if(!i.animate){this.element.css(c.extend(n,{top:l,left:j}))}m.helper.height(m.size.height);m.helper.width(m.size.width);if(this._helper&&!i.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",h);if(this._helper){this.helper.remove()}return false},_updateVirtualBoundaries:function(g){var j=this.options,i,h,f,k,e;e={minWidth:a(j.minWidth)?j.minWidth:0,maxWidth:a(j.maxWidth)?j.maxWidth:Infinity,minHeight:a(j.minHeight)?j.minHeight:0,maxHeight:a(j.maxHeight)?j.maxHeight:Infinity};if(this._aspectRatio||g){i=e.minHeight*this.aspectRatio;f=e.minWidth/this.aspectRatio;h=e.maxHeight*this.aspectRatio;k=e.maxWidth/this.aspectRatio;if(i>e.minWidth){e.minWidth=i}if(f>e.minHeight){e.minHeight=f}if(h<e.maxWidth){e.maxWidth=h}if(k<e.maxHeight){e.maxHeight=k}}this._vBoundaries=e},_updateCache:function(e){var f=this.options;this.offset=this.helper.offset();if(a(e.left)){this.position.left=e.left}if(a(e.top)){this.position.top=e.top}if(a(e.height)){this.size.height=e.height}if(a(e.width)){this.size.width=e.width}},_updateRatio:function(h,g){var i=this.options,j=this.position,f=this.size,e=this.axis;if(a(h.height)){h.width=(h.height*this.aspectRatio)}else{if(a(h.width)){h.height=(h.width/this.aspectRatio)}}if(e=="sw"){h.left=j.left+(f.width-h.width);h.top=null}if(e=="nw"){h.top=j.top+(f.height-h.height);h.left=j.left+(f.width-h.width)}return h},_respectSize:function(l,g){var j=this.helper,i=this._vBoundaries,r=this._aspectRatio||g.shiftKey,q=this.axis,t=a(l.width)&&i.maxWidth&&(i.maxWidth<l.width),m=a(l.height)&&i.maxHeight&&(i.maxHeight<l.height),h=a(l.width)&&i.minWidth&&(i.minWidth>l.width),s=a(l.height)&&i.minHeight&&(i.minHeight>l.height);if(h){l.width=i.minWidth}if(s){l.height=i.minHeight}if(t){l.width=i.maxWidth}if(m){l.height=i.maxHeight}var f=this.originalPosition.left+this.originalSize.width,p=this.position.top+this.size.height;var k=/sw|nw|w/.test(q),e=/nw|ne|n/.test(q);if(h&&k){l.left=f-i.minWidth}if(t&&k){l.left=f-i.maxWidth}if(s&&e){l.top=p-i.minHeight}if(m&&e){l.top=p-i.maxHeight}var n=!l.width&&!l.height;if(n&&!l.left&&l.top){l.top=null}else{if(n&&!l.top&&l.left){l.left=null}}return l},_proportionallyResize:function(){var k=this.options;if(!this._proportionallyResizeElements.length){return}var g=this.helper||this.element;for(var f=0;f<this._proportionallyResizeElements.length;f++){var h=this._proportionallyResizeElements[f];if(!this.borderDif){var e=[h.css("borderTopWidth"),h.css("borderRightWidth"),h.css("borderBottomWidth"),h.css("borderLeftWidth")],j=[h.css("paddingTop"),h.css("paddingRight"),h.css("paddingBottom"),h.css("paddingLeft")];this.borderDif=c.map(e,function(l,n){var m=parseInt(l,10)||0,o=parseInt(j[n],10)||0;return m+o})}if(c.browser.msie&&!(!(c(g).is(":hidden")||c(g).parents(":hidden").length))){continue}h.css({height:(g.height()-this.borderDif[0]-this.borderDif[2])||0,width:(g.width()-this.borderDif[1]-this.borderDif[3])||0})}},_renderProxy:function(){var f=this.element,i=this.options;this.elementOffset=f.offset();if(this._helper){this.helper=this.helper||c('<div style="overflow:hidden;"></div>');var e=c.browser.msie&&c.browser.version<7,g=(e?1:0),h=(e?2:-1);this.helper.addClass(this._helper).css({width:this.element.outerWidth()+h,height:this.element.outerHeight()+h,position:"absolute",left:this.elementOffset.left-g+"px",top:this.elementOffset.top-g+"px",zIndex:++i.zIndex});this.helper.appendTo("body").disableSelection()}else{this.helper=this.element}},_change:{e:function(g,f,e){return{width:this.originalSize.width+f}},w:function(h,f,e){var j=this.options,g=this.originalSize,i=this.originalPosition;return{left:i.left+f,width:g.width-f}},n:function(h,f,e){var j=this.options,g=this.originalSize,i=this.originalPosition;return{top:i.top+e,height:g.height-e}},s:function(g,f,e){return{height:this.originalSize.height+e}},se:function(g,f,e){return c.extend(this._change.s.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},sw:function(g,f,e){return c.extend(this._change.s.apply(this,arguments),this._change.w.apply(this,[g,f,e]))},ne:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},nw:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[g,f,e]))}},_propagate:function(f,e){c.ui.plugin.call(this,f,[e,this.ui()]);(f!="resize"&&this._trigger(f,e,this.ui()))},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}});c.extend(c.ui.resizable,{version:"1.8.18"});c.ui.plugin.add("resizable","alsoResize",{start:function(f,g){var e=c(this).data("resizable"),i=e.options;var h=function(j){c(j).each(function(){var k=c(this);k.data("resizable-alsoresize",{width:parseInt(k.width(),10),height:parseInt(k.height(),10),left:parseInt(k.css("left"),10),top:parseInt(k.css("top"),10)})})};if(typeof(i.alsoResize)=="object"&&!i.alsoResize.parentNode){if(i.alsoResize.length){i.alsoResize=i.alsoResize[0];h(i.alsoResize)}else{c.each(i.alsoResize,function(j){h(j)})}}else{h(i.alsoResize)}},resize:function(g,i){var f=c(this).data("resizable"),j=f.options,h=f.originalSize,l=f.originalPosition;var k={height:(f.size.height-h.height)||0,width:(f.size.width-h.width)||0,top:(f.position.top-l.top)||0,left:(f.position.left-l.left)||0},e=function(m,n){c(m).each(function(){var q=c(this),r=c(this).data("resizable-alsoresize"),p={},o=n&&n.length?n:q.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];c.each(o,function(s,u){var t=(r[u]||0)+(k[u]||0);if(t&&t>=0){p[u]=t||null}});q.css(p)})};if(typeof(j.alsoResize)=="object"&&!j.alsoResize.nodeType){c.each(j.alsoResize,function(m,n){e(m,n)})}else{e(j.alsoResize)}},stop:function(e,f){c(this).removeData("resizable-alsoresize")}});c.ui.plugin.add("resizable","animate",{stop:function(i,n){var p=c(this).data("resizable"),j=p.options;var h=p._proportionallyResizeElements,e=h.length&&(/textarea/i).test(h[0].nodeName),f=e&&c.ui.hasScroll(h[0],"left")?0:p.sizeDiff.height,l=e?0:p.sizeDiff.width;var g={width:(p.size.width-l),height:(p.size.height-f)},k=(parseInt(p.element.css("left"),10)+(p.position.left-p.originalPosition.left))||null,m=(parseInt(p.element.css("top"),10)+(p.position.top-p.originalPosition.top))||null;p.element.animate(c.extend(g,m&&k?{top:m,left:k}:{}),{duration:j.animateDuration,easing:j.animateEasing,step:function(){var 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+ *  jquery.ui.mouse.js
+ */
+(function(b){b.support.touch="ontouchend" in document;if(!b.support.touch){return}var d=b.ui.mouse.prototype,f=d._mouseInit,c=d._mouseDestroy,a;function e(h,i){if(h.originalEvent.touches.length>1){return}h.preventDefault();var j=h.originalEvent.changedTouches[0],g=document.createEvent("MouseEvents");g.initMouseEvent(i,true,true,window,1,j.screenX,j.screenY,j.clientX,j.clientY,false,false,false,false,0,null);h.target.dispatchEvent(g)}d._touchStart=function(h){var g=this;if(a||!g._mouseCapture(h.originalEvent.changedTouches[0])){return}a=true;g._touchMoved=false;e(h,"mouseover");e(h,"mousemove");e(h,"mousedown")};d._touchMove=function(g){if(!a){return}this._touchMoved=true;e(g,"mousemove")};d._touchEnd=function(g){if(!a){return}e(g,"mouseup");e(g,"mouseout");if(!this._touchMoved){e(g,"click")}a=false};d._mouseInit=function(){var g=this;g.element.bind({touchstart:b.proxy(g,"_touchStart"),touchmove:b.proxy(g,"_touchMove"),touchend:b.proxy(g,"_touchEnd")});f.call(g)};d._mouseDestroy=function(){var g=this;g.element.unbind({touchstart:b.proxy(g,"_touchStart"),touchmove:b.proxy(g,"_touchMove"),touchend:b.proxy(g,"_touchEnd")});c.call(g)}})(jQuery);/*!
+ * SmartMenus jQuery Plugin - v1.0.0 - January 27, 2016
+ * http://www.smartmenus.org/
+ *
+ * Copyright Vasil Dinkov, Vadikom Web Ltd.
+ * http://vadikom.com
+ *
+ * Licensed MIT
+ */
+(function(a){if(typeof define==="function"&&define.amd){define(["jquery"],a)}else{if(typeof module==="object"&&typeof module.exports==="object"){module.exports=a(require("jquery"))}else{a(jQuery)}}}(function(a){var b=[],e=!!window.createPopup,f=false,d="ontouchstart" in window,h=false,g=window.requestAnimationFrame||function(l){return setTimeout(l,1000/60)},c=window.cancelAnimationFrame||function(l){clearTimeout(l)};function k(m){var n=".smartmenus_mouse";if(!h&&!m){var o=true,l=null;a(document).bind(i([["mousemove",function(s){var t={x:s.pageX,y:s.pageY,timeStamp:new Date().getTime()};if(l){var q=Math.abs(l.x-t.x),p=Math.abs(l.y-t.y);if((q>0||p>0)&&q<=2&&p<=2&&t.timeStamp-l.timeStamp<=300){f=true;if(o){var r=a(s.target).closest("a");if(r.is("a")){a.each(b,function(){if(a.contains(this.$root[0],r[0])){this.itemEnter({currentTarget:r[0]});return false}})}o=false}}}l=t}],[d?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove MSPointerOut",function(p){if(j(p.originalEvent)){f=false}}]],n));h=true}else{if(h&&m){a(document).unbind(n);h=false}}}function j(l){return !/^(4|mouse)$/.test(l.pointerType)}function i(l,n){if(!n){n=""}var m={};a.each(l,function(o,p){m[p[0].split(" ").join(n+" ")+n]=p[1]});return m}a.SmartMenus=function(m,l){this.$root=a(m);this.opts=l;this.rootId="";this.accessIdPrefix="";this.$subArrow=null;this.activatedItems=[];this.visibleSubMenus=[];this.showTimeout=0;this.hideTimeout=0;this.scrollTimeout=0;this.clickActivated=false;this.focusActivated=false;this.zIndexInc=0;this.idInc=0;this.$firstLink=null;this.$firstSub=null;this.disabled=false;this.$disableOverlay=null;this.$touchScrollingSub=null;this.cssTransforms3d="perspective" in m.style||"webkitPerspective" in m.style;this.wasCollapsible=false;this.init()};a.extend(a.SmartMenus,{hideAll:function(){a.each(b,function(){this.menuHideAll()})},destroy:function(){while(b.length){b[0].destroy()}k(true)},prototype:{init:function(n){var l=this;if(!n){b.push(this);this.rootId=(new Date().getTime()+Math.random()+"").replace(/\D/g,"");this.accessIdPrefix="sm-"+this.rootId+"-";if(this.$root.hasClass("sm-rtl")){this.opts.rightToLeftSubMenus=true}var r=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).bind(i([["mouseover focusin",a.proxy(this.rootOver,this)],["mouseout focusout",a.proxy(this.rootOut,this)],["keydown",a.proxy(this.rootKeyDown,this)]],r)).delegate("a",i([["mouseenter",a.proxy(this.itemEnter,this)],["mouseleave",a.proxy(this.itemLeave,this)],["mousedown",a.proxy(this.itemDown,this)],["focus",a.proxy(this.itemFocus,this)],["blur",a.proxy(this.itemBlur,this)],["click",a.proxy(this.itemClick,this)]],r));r+=this.rootId;if(this.opts.hideOnClick){a(document).bind(i([["touchstart",a.proxy(this.docTouchStart,this)],["touchmove",a.proxy(this.docTouchMove,this)],["touchend",a.proxy(this.docTouchEnd,this)],["click",a.proxy(this.docClick,this)]],r))}a(window).bind(i([["resize orientationchange",a.proxy(this.winResize,this)]],r));if(this.opts.subIndicators){this.$subArrow=a("<span/>").addClass("sub-arrow");if(this.opts.subIndicatorsText){this.$subArrow.html(this.opts.subIndicatorsText)}}k()}this.$firstSub=this.$root.find("ul").each(function(){l.menuInit(a(this))}).eq(0);this.$firstLink=this.$root.find("a").eq(0);if(this.opts.markCurrentItem){var p=/(index|default)\.[^#\?\/]*/i,m=/#.*/,q=window.location.href.replace(p,""),o=q.replace(m,"");this.$root.find("a").each(function(){var s=this.href.replace(p,""),t=a(this);if(s==q||s==o){t.addClass("current");if(l.opts.markCurrentTree){t.parentsUntil("[data-smartmenus-id]","ul").each(function(){a(this).dataSM("parent-a").addClass("current")})}}})}this.wasCollapsible=this.isCollapsible()},destroy:function(m){if(!m){var n=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").unbind(n).undelegate(n);n+=this.rootId;a(document).unbind(n);a(window).unbind(n);if(this.opts.subIndicators){this.$subArrow=null}}this.menuHideAll();var l=this;this.$root.find("ul").each(function(){var o=a(this);if(o.dataSM("scroll-arrows")){o.dataSM("scroll-arrows").remove()}if(o.dataSM("shown-before")){if(l.opts.subMenusMinWidth||l.opts.subMenusMaxWidth){o.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap")}if(o.dataSM("scroll-arrows")){o.dataSM("scroll-arrows").remove()}o.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})}if((o.attr("id")||"").indexOf(l.accessIdPrefix)==0){o.removeAttr("id")}}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("ie-shim").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded");this.$root.find("a.has-submenu").each(function(){var o=a(this);if(o.attr("id").indexOf(l.accessIdPrefix)==0){o.removeAttr("id")}}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub");if(this.opts.subIndicators){this.$root.find("span.sub-arrow").remove()}if(this.opts.markCurrentItem){this.$root.find("a.current").removeClass("current")}if(!m){this.$root=null;this.$firstLink=null;this.$firstSub=null;if(this.$disableOverlay){this.$disableOverlay.remove();this.$disableOverlay=null}b.splice(a.inArray(this,b),1)}},disable:function(l){if(!this.disabled){this.menuHideAll();if(!l&&!this.opts.isPopup&&this.$root.is(":visible")){var m=this.$root.offset();this.$disableOverlay=a('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:m.top,left:m.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(true),opacity:0}).appendTo(document.body)}this.disabled=true}},docClick:function(l){if(this.$touchScrollingSub){this.$touchScrollingSub=null;return}if(this.visibleSubMenus.length&&!a.contains(this.$root[0],l.target)||a(l.target).is("a")){this.menuHideAll()}},docTouchEnd:function(m){if(!this.lastTouch){return}if(this.visibleSubMenus.length&&(this.lastTouch.x2===undefined||this.lastTouch.x1==this.lastTouch.x2)&&(this.lastTouch.y2===undefined||this.lastTouch.y1==this.lastTouch.y2)&&(!this.lastTouch.target||!a.contains(this.$root[0],this.lastTouch.target))){if(this.hideTimeout){clearTimeout(this.hideTimeout);this.hideTimeout=0}var l=this;this.hideTimeout=setTimeout(function(){l.menuHideAll()},350)}this.lastTouch=null},docTouchMove:function(m){if(!this.lastTouch){return}var l=m.originalEvent.touches[0];this.lastTouch.x2=l.pageX;this.lastTouch.y2=l.pageY},docTouchStart:function(m){var l=m.originalEvent.touches[0];this.lastTouch={x1:l.pageX,y1:l.pageY,target:l.target}},enable:function(){if(this.disabled){if(this.$disableOverlay){this.$disableOverlay.remove();this.$disableOverlay=null}this.disabled=false}},getClosestMenu:function(m){var l=a(m).closest("ul");while(l.dataSM("in-mega")){l=l.parent().closest("ul")}return l[0]||null},getHeight:function(l){return this.getOffset(l,true)},getOffset:function(n,l){var m;if(n.css("display")=="none"){m={position:n[0].style.position,visibility:n[0].style.visibility};n.css({position:"absolute",visibility:"hidden"}).show()}var o=n[0].getBoundingClientRect&&n[0].getBoundingClientRect(),p=o&&(l?o.height||o.bottom-o.top:o.width||o.right-o.left);if(!p&&p!==0){p=l?n[0].offsetHeight:n[0].offsetWidth}if(m){n.hide().css(m)}return p},getStartZIndex:function(l){var m=parseInt(this[l?"$root":"$firstSub"].css("z-index"));if(!l&&isNaN(m)){m=parseInt(this.$root.css("z-index"))}return !isNaN(m)?m:1},getTouchPoint:function(l){return l.touches&&l.touches[0]||l.changedTouches&&l.changedTouches[0]||l},getViewport:function(l){var m=l?"Height":"Width",o=document.documentElement["client"+m],n=window["inner"+m];if(n){o=Math.min(o,n)}return o},getViewportHeight:function(){return this.getViewport(true)},getViewportWidth:function(){return this.getViewport()},getWidth:function(l){return this.getOffset(l)},handleEvents:function(){return !this.disabled&&this.isCSSOn()},handleItemEvents:function(l){return this.handleEvents()&&!this.isLinkInMegaMenu(l)},isCollapsible:function(){return this.$firstSub.css("position")=="static"},isCSSOn:function(){return this.$firstLink.css("display")=="block"},isFixed:function(){var l=this.$root.css("position")=="fixed";if(!l){this.$root.parentsUntil("body").each(function(){if(a(this).css("position")=="fixed"){l=true;return false}})}return l},isLinkInMegaMenu:function(l){return a(this.getClosestMenu(l[0])).hasClass("mega-menu")},isTouchMode:function(){return !f||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(p,l){var n=p.closest("ul"),q=n.dataSM("level");if(q>1&&(!this.activatedItems[q-2]||this.activatedItems[q-2][0]!=n.dataSM("parent-a")[0])){var m=this;a(n.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(n).each(function(){m.itemActivate(a(this).dataSM("parent-a"))})}if(!this.isCollapsible()||l){this.menuHideSubMenus(!this.activatedItems[q-1]||this.activatedItems[q-1][0]!=p[0]?q-1:q)}this.activatedItems[q-1]=p;if(this.$root.triggerHandler("activate.smapi",p[0])===false){return}var o=p.dataSM("sub");if(o&&(this.isTouchMode()||(!this.opts.showOnClick||this.clickActivated))){this.menuShow(o)}},itemBlur:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}this.$root.triggerHandler("blur.smapi",l[0])},itemClick:function(o){var n=a(o.currentTarget);if(!this.handleItemEvents(n)){return}if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==n.closest("ul")[0]){this.$touchScrollingSub=null;o.stopPropagation();return false}if(this.$root.triggerHandler("click.smapi",n[0])===false){return false}var p=a(o.target).is("span.sub-arrow"),m=n.dataSM("sub"),l=m?m.dataSM("level")==2:false;if(m&&!m.is(":visible")){if(this.opts.showOnClick&&l){this.clickActivated=true}this.itemActivate(n);if(m.is(":visible")){this.focusActivated=true;return false}}else{if(this.isCollapsible()&&p){this.itemActivate(n);this.menuHide(m);return false}}if(this.opts.showOnClick&&l||n.hasClass("disabled")||this.$root.triggerHandler("select.smapi",n[0])===false){return false}},itemDown:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}l.dataSM("mousedown",true)},itemEnter:function(n){var m=a(n.currentTarget);if(!this.handleItemEvents(m)){return}if(!this.isTouchMode()){if(this.showTimeout){clearTimeout(this.showTimeout);this.showTimeout=0}var l=this;this.showTimeout=setTimeout(function(){l.itemActivate(m)},this.opts.showOnClick&&m.closest("ul").dataSM("level")==1?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",m[0])},itemFocus:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}if(this.focusActivated&&(!this.isTouchMode()||!l.dataSM("mousedown"))&&(!this.activatedItems.length||this.activatedItems[this.activatedItems.length-1][0]!=l[0])){this.itemActivate(l,true)}this.$root.triggerHandler("focus.smapi",l[0])},itemLeave:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}if(!this.isTouchMode()){l[0].blur();if(this.showTimeout){clearTimeout(this.showTimeout);this.showTimeout=0}}l.removeDataSM("mousedown");this.$root.triggerHandler("mouseleave.smapi",l[0])},menuHide:function(m){if(this.$root.triggerHandler("beforehide.smapi",m[0])===false){return}m.stop(true,true);if(m.css("display")!="none"){var l=function(){m.css("z-index","")};if(this.isCollapsible()){if(this.opts.collapsibleHideFunction){this.opts.collapsibleHideFunction.call(this,m,l)}else{m.hide(this.opts.collapsibleHideDuration,l)}}else{if(this.opts.hideFunction){this.opts.hideFunction.call(this,m,l)}else{m.hide(this.opts.hideDuration,l)}}if(m.dataSM("ie-shim")){m.dataSM("ie-shim").remove().css({"-webkit-transform":"",transform:""})}if(m.dataSM("scroll")){this.menuScrollStop(m);m.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).unbind(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()}m.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false");m.attr({"aria-expanded":"false","aria-hidden":"true"});var n=m.dataSM("level");this.activatedItems.splice(n-1,1);this.visibleSubMenus.splice(a.inArray(m,this.visibleSubMenus),1);this.$root.triggerHandler("hide.smapi",m[0])}},menuHideAll:function(){if(this.showTimeout){clearTimeout(this.showTimeout);this.showTimeout=0}var m=this.opts.isPopup?1:0;for(var l=this.visibleSubMenus.length-1;l>=m;l--){this.menuHide(this.visibleSubMenus[l])}if(this.opts.isPopup){this.$root.stop(true,true);if(this.$root.is(":visible")){if(this.opts.hideFunction){this.opts.hideFunction.call(this,this.$root)}else{this.$root.hide(this.opts.hideDuration)}if(this.$root.dataSM("ie-shim")){this.$root.dataSM("ie-shim").remove()}}}this.activatedItems=[];this.visibleSubMenus=[];this.clickActivated=false;this.focusActivated=false;this.zIndexInc=0;this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(n){for(var l=this.activatedItems.length-1;l>=n;l--){var m=this.activatedItems[l].dataSM("sub");if(m){this.menuHide(m)}}},menuIframeShim:function(l){if(e&&this.opts.overlapControlsInIE&&!l.dataSM("ie-shim")){l.dataSM("ie-shim",a("<iframe/>").attr({src:"javascript:0",tabindex:-9}).css({position:"absolute",top:"auto",left:"0",opacity:0,border:"0"}))}},menuInit:function(l){if(!l.dataSM("in-mega")){if(l.hasClass("mega-menu")){l.find("ul").dataSM("in-mega",true)}var q=2,m=l[0];while((m=m.parentNode.parentNode)!=this.$root[0]){q++}var n=l.prevAll("a").eq(-1);if(!n.length){n=l.prevAll().find("a").eq(-1)}n.addClass("has-submenu").dataSM("sub",l);l.dataSM("parent-a",n).dataSM("level",q).parent().dataSM("sub",l);var o=n.attr("id")||this.accessIdPrefix+(++this.idInc),p=l.attr("id")||this.accessIdPrefix+(++this.idInc);n.attr({id:o,"aria-haspopup":"true","aria-controls":p,"aria-expanded":"false"});l.attr({id:p,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"});if(this.opts.subIndicators){n[this.opts.subIndicatorsPos](this.$subArrow.clone())}}},menuPosition:function(K){var r=K.dataSM("parent-a"),D=r.closest("li"),E=D.parent(),l=K.dataSM("level"),t=this.getWidth(K),J=this.getHeight(K),u=r.offset(),o=u.left,m=u.top,q=this.getWidth(r),F=this.getHeight(r),H=a(window),v=H.scrollLeft(),s=H.scrollTop(),z=this.getViewportWidth(),L=this.getViewportHeight(),w=E.parent().is("[data-sm-horizontal-sub]")||l==2&&!E.hasClass("sm-vertical"),B=this.opts.rightToLeftSubMenus&&!D.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&D.is("[data-sm-reverse]"),p=l==2?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,n=l==2?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY,C,A;if(w){C=B?q-t-p:p;A=this.opts.bottomToTopSubMenus?-J-n:F+n}else{C=B?p-t:q-p;A=this.opts.bottomToTopSubMenus?F-n-J:n}if(this.opts.keepInViewport){var N=o+C,M=m+A;if(B&&N<v){C=w?v-N+C:q-p}else{if(!B&&N+t>v+z){C=w?v+z-t-N+C:p-t}}if(!w){if(J<L&&M+J>s+L){A+=s+L-J-M}else{if(J>=L||M<s){A+=s-M}}}if(w&&(M+J>s+L+0.49||M<s)||!w&&J>L+0.49){var G=this;if(!K.dataSM("scroll-arrows")){K.dataSM("scroll-arrows",a([a('<span class="scroll-up"><span class="scroll-up-arrow"></span></span>')[0],a('<span class="scroll-down"><span class="scroll-down-arrow"></span></span>')[0]]).bind({mouseenter:function(){K.dataSM("scroll").up=a(this).hasClass("scroll-up");G.menuScroll(K)},mouseleave:function(x){G.menuScrollStop(K);G.menuScrollOut(K,x)},"mousewheel DOMMouseScroll":function(x){x.preventDefault()}}).insertAfter(K))}var I=".smartmenus_scroll";K.dataSM("scroll",{y:this.cssTransforms3d?0:A-F,step:1,itemH:F,subH:J,arrowDownH:this.getHeight(K.dataSM("scroll-arrows").eq(1))}).bind(i([["mouseover",function(x){G.menuScrollOver(K,x)}],["mouseout",function(x){G.menuScrollOut(K,x)}],["mousewheel DOMMouseScroll",function(x){G.menuScrollMousewheel(K,x)}]],I)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:C+(parseInt(K.css("border-left-width"))||0),width:t-(parseInt(K.css("border-left-width"))||0)-(parseInt(K.css("border-right-width"))||0),zIndex:K.css("z-index")}).eq(w&&this.opts.bottomToTopSubMenus?0:1).show();if(this.isFixed()){K.css({"touch-action":"none","-ms-touch-action":"none"}).bind(i([[d?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp",function(x){G.menuScrollTouch(K,x)}]],I))}}}K.css({top:"auto",left:"0",marginLeft:C,marginTop:A-F});this.menuIframeShim(K);if(K.dataSM("ie-shim")){K.dataSM("ie-shim").css({zIndex:K.css("z-index"),width:t,height:J,marginLeft:C,marginTop:A-F})}},menuScroll:function(r,m,n){var p=r.dataSM("scroll"),q=r.dataSM("scroll-arrows"),o=p.up?p.upEnd:p.downEnd,s;if(!m&&p.momentum){p.momentum*=0.92;s=p.momentum;if(s<0.5){this.menuScrollStop(r);return}}else{s=n||(m||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(p.step))}var l=r.dataSM("level");if(this.activatedItems[l-1]&&this.activatedItems[l-1].dataSM("sub")&&this.activatedItems[l-1].dataSM("sub").is(":visible")){this.menuHideSubMenus(l-1)}p.y=p.up&&o<=p.y||!p.up&&o>=p.y?p.y:(Math.abs(o-p.y)>s?p.y+(p.up?s:-s):o);r.add(r.dataSM("ie-shim")).css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+p.y+"px, 0)",transform:"translate3d(0, "+p.y+"px, 0)"}:{marginTop:p.y});if(f&&(p.up&&p.y>p.downEnd||!p.up&&p.y<p.upEnd)){q.eq(p.up?1:0).show()}if(p.y==o){if(f){q.eq(p.up?0:1).hide()}this.menuScrollStop(r)}else{if(!m){if(this.opts.scrollAccelerate&&p.step<this.opts.scrollStep){p.step+=0.2}var 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+<div class="title">SatNOGS Rotator Firmware </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>Firmware <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware">SatNOGS Rotator Controller</a>.</p>
+<p>Repository includes all source files for the SatNOGS rotator controller Firmware.</p>
+<p>Electronics can be found on <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller">satnogs-rotator-controller</a></p>
+<h2>Instructions</h2>
+<p>In order to use this code, you need to install</p><ul>
+<li><a href="http://www.airspayce.com/mikem/arduino/AccelStepper/index.html">AccelStepper library</a></li>
+<li>PID_v1 library</li>
+<li>Wire library</li>
+</ul>
+<p>You need to choose the version of the Firmware you will be utilizing based on your controller and rotator setup. Namely we have two different versions (one for DC motors and one for Stepper motors).</p>
+<h5>Steps</h5>
+<ul>
+<li>Download arduino IDE (tested with 1.8.5)</li>
+<li>Add these lines in /arduino-1.8.5/hardware/arduino/avr/boards.txt</li>
+</ul>
+<div class="fragment"><div class="line">##############################################################</div><div class="line">satnogs.name=SatNOGS</div><div class="line">satnogs.upload.tool=avrdude</div><div class="line">satnogs.upload.protocol=buspirate</div><div class="line">satnogs.upload.maximum_size=32256</div><div class="line">satnogs.upload.maximum_data_size=2048</div><div class="line">satnogs.upload.speed=115200</div><div class="line"></div><div class="line">satnogs.bootloader.tool=avrdude</div><div class="line">satnogs.bootloader.low_fuses=0xFF</div><div class="line">satnogs.bootloader.high_fuses=0xDE</div><div class="line">satnogs.bootloader.extended_fuses=0xFD</div><div class="line">satnogs.bootloader.unlock_bits=0x3F</div><div class="line">satnogs.bootloader.lock_bits=0x0F</div><div class="line">satnogs.bootloader.file=optiboot/optiboot_atmega328.hex</div><div class="line"></div><div class="line">satnogs.build.mcu=atmega328p</div><div class="line">satnogs.build.f_cpu=16000000L</div><div class="line">satnogs.build.board=AVR_SATNOGS</div><div class="line">satnogs.build.core=arduino</div><div class="line">satnogs.build.variant=eightanaloginputs</div><div class="line">##############################################################</div></div><!-- fragment --><ul>
+<li>Install <a href="https://github.com/sudar/Arduino-Makefile">Arduino-Makefile</a></li>
+</ul>
+<div class="fragment"><div class="line">ARDUINO_DIR – Directory where Arduino is installed</div><div class="line">ARDMK_DIR – Directory where you have copied the makefile</div><div class="line">AVR_TOOLS_DIR – Directory where avr tools are installed</div><div class="line">USER_LIB_PATH – Directory where arduino libraries are installed</div><div class="line">AVRDUDE – Directory where avrdude are installed</div><div class="line">AVRDUDE_ARD_BAUDRATE – Serial Baudrate (uncomment to use 57600 for FTDI)</div><div class="line">include – Directory where Arduino.mk are installed</div></div><!-- fragment --><ul>
+<li>Build the code</li>
+</ul>
+<div class="fragment"><div class="line">make</div></div><!-- fragment --><ul>
+<li>Upload using ISP<ul>
+<li>Connect <a href="https://www.arduino.cc/en/Tutorial/ArduinoISP">arduino</a> or buspirate for ISP programming<ol type="1">
+<li>Pin 13 (SCK) to Pin 13 of arduino pro mini, ISP connector</li>
+<li>Pin 12 (MISO) to Pin 12 of arduino pro mini, ISP connector</li>
+<li>Pin 11 (MOSI) to Pin 11 of arduino pro mini, ISP connector</li>
+<li>Pin 10 (RESET) to Pin RST of arduino pro mini, ISP connector</li>
+<li>5+ (Vcc) to Pin VCC of arduino pro mini, ISP connector</li>
+<li>Gnd (Gnd) to Pin GND of arduino pro mini, ISP connector</li>
+</ol>
+</li>
+</ul>
+</li>
+<li>BusPirate</li>
+</ul>
+<div class="fragment"><div class="line">satnogs.upload.protocol=buspirate (in board.txt)</div><div class="line">ISP_PROG = buspirate (in Makefile)</div></div><!-- fragment --> <div class="fragment"><div class="line">make ispload</div></div><!-- fragment --><ul>
+<li>Arduino</li>
+</ul>
+<div class="fragment"><div class="line">satnogs.upload.protocol=arduino (in board.txt)</div><div class="line">ISP_PROG = arduino (in Makefile)</div></div><!-- fragment --><div class="fragment"><div class="line">make ispload</div></div><!-- fragment --><ul>
+<li>Upload using FDTI, but is necessary to uninstall arduino pro-mini from board</li>
+</ul>
+<p>Connect <a href="https://learn.sparkfun.com/tutorials/using-the-arduino-pro-mini-33v">FTDI</a></p>
+<div class="fragment"><div class="line">satnogs.upload.protocol=arduino (in board.txt)</div></div><!-- fragment --> <div class="fragment"><div class="line">make upload</div></div><!-- fragment --><ul>
+<li>Burn optiboot</li>
+</ul>
+<p>Only with ISP programming </p><pre class="fragment">* Arduino as ISP
+* BusPirate as ISP
+</pre><div class="fragment"><div class="line">make burn_bootloader</div></div><!-- fragment --><h2>Easycomm implemantation</h2>
+<ul>
+<li>AZ, Azimuth, number - 1 decimal place [deg]</li>
+<li>EL, Elevation, number - 1 decimal place [deg]</li>
+<li>SA, Stop azimuth moving</li>
+<li>SE, Stop elevation moving</li>
+<li>RESET, Move to home position</li>
+<li>PARK, Move to park position</li>
+<li>IP, Read an input, number<ul>
+<li>Temperature = 0</li>
+<li>SW1 = 1</li>
+<li>SW2 = 2</li>
+<li>Encoder1 = 3</li>
+<li>Encoder2 = 4</li>
+<li>Load of M1/AZ = 5</li>
+<li>Load of M2/EL = 6</li>
+<li>Speed of M1/AZ (DPS) = 7</li>
+<li>Speed of M2/EL (DPS) = 8</li>
+</ul>
+</li>
+<li>VE, Request Version</li>
+<li>GS, Get status register, number<ul>
+<li>idle = 1</li>
+<li>moving = 2</li>
+<li>pointing = 4</li>
+<li>error = 8</li>
+</ul>
+</li>
+<li>GE, Get error register, number<ul>
+<li>no_error = 1</li>
+<li>sensor_error = 2</li>
+<li>homing_error = 4</li>
+<li>motor_error = 8</li>
+<li>over_temperature = 12</li>
+<li>wdt_error = 16</li>
+</ul>
+</li>
+<li>VL, Velocity Left ,number [mdeg/s]</li>
+<li>VR, Velocity Right, number [mdeg/s]</li>
+<li>VU, Velocity Up, number [mdeg/s]</li>
+<li>VD, Velocity Down, number [mdeg/s]</li>
+<li>CR, Read config, register [0-x]<ul>
+<li>Gain P for M1/AZ = 1</li>
+<li>Gain I for M1/AZ = 2</li>
+<li>Gain D for M1/AZ = 3</li>
+<li>Gain P for M2/EL = 4</li>
+<li>Gain I for M2/EL = 5</li>
+<li>Gain D for M2/EL = 6</li>
+<li>Azimuth park position = 7</li>
+<li>Elevation park position = 8</li>
+<li>Control mode (position = 0, speed = 1) = 9</li>
+</ul>
+</li>
+<li>CW, Write config, register [0-x]<ul>
+<li>Gain P for M1/AZ = 1</li>
+<li>Gain I for M1/AZ = 2</li>
+<li>Gain D for M1/AZ = 3</li>
+<li>Gain P for M2/EL = 4</li>
+<li>Gain I for M2/EL = 5</li>
+<li>Gain D for M2/EL = 6</li>
+<li>Azimuth park position = 7</li>
+<li>Elevation park position = 8</li>
+<li>This reg is set from Vx commands control mode (position = 0, speed = 1) = 9</li>
+</ul>
+</li>
+<li>RB, custom command to reboot controller</li>
+</ul>
+<h2>Controller Configurations</h2>
+<ul>
+<li>Stepper Motor<ul>
+<li>Endstops</li>
+<li>Encoders, optional</li>
+<li>UART or R485</li>
+</ul>
+</li>
+<li>DC Motor<ul>
+<li>Endstops</li>
+<li>Encoders</li>
+<li>UART or RS485</li>
+</ul>
+</li>
+</ul>
+<h2>Pins Configuration</h2>
+<div class="fragment"><div class="line">M1IN1 10, Step or PWM1</div><div class="line">M1IN2 9, Direction or PWM2</div><div class="line">M1SF  7, Status flag</div><div class="line">M1FB  A1, Load measurment</div><div class="line"></div><div class="line">M2IN1 11, Step or PWM1</div><div class="line">M2IN2 3, Direction or PWM2</div><div class="line">M2SF  6, Status flag</div><div class="line">M2FB  A0, Load measurment</div><div class="line"></div><div class="line">MOTOR_EN 8, Enable/Disable motors</div><div class="line"></div><div class="line">SW1 5, Endstop for axis 1</div><div class="line">SW2 4, Endstop for axis 2</div><div class="line"></div><div class="line">RS485_DIR 2, RS485 Half Duplex direction pin</div><div class="line"></div><div class="line">SDA_PIN 3, Data I2C pin</div><div class="line">SCL_PIN 4, Clock I2C pin</div><div class="line"></div><div class="line">PIN12 12, Digital output pin</div><div class="line">PIN13 13, Digital output pin</div><div class="line">A2    A2, Analog input pin</div><div class="line">A3    A3, Analog input pin</div></div><!-- fragment --><h2>Testing with hamlib - rotctl</h2>
+<p>Use commands of rotctl.</p>
+<div class="fragment"><div class="line">rotctl -m 204 -s 19200 -r /dev/ttyUSB1 -C timeout=200 -vvvvv</div></div><!-- fragment --><h2>Contribute</h2>
+<p>The main repository lives on <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware">Gitlab</a> and all Merge Request should happen there.</p>
+<h2>License</h2>
+<p>&copy; 2014-2017 <a href="http://libre.space">Libre Space Foundation</a>.</p>
+<p>Licensed under the [GPLv3](LICENSE) </p>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmotor.html">motor</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class that functions for interacting with a Motor Driver Carrier.  <a href="classmotor.html#details">More...</a><br /></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for DC motor driver like Pololu Dual MC33926 Motor Driver Carrier.</p>
+<p>Licensed under the GPLv3 </p>
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+<p class="definition">Definition in file <a class="el" href="motor_8h_source.html">motor.h</a>.</p>
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+<div class="contents">
+<a href="motor_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef MOTOR_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define MOTOR_H_</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmotor.html">   35</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmotor.html">motor</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">   38</a></span>&#160;    <a class="code" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor</a>(uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;            uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a> = pwm_pin1;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a> = pwm_pin2;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a> = maxSpeed;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a> = minSpeed;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a> = fb_pin;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a> = en_pin;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a> = sf_pin;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    }</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">   55</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">init_pin</a>() {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        pinMode(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, OUTPUT);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        pinMode(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, OUTPUT);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="comment">/* Feedback and sense */</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        pinMode(<a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a>, INPUT);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        pinMode(<a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a>,INPUT);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="comment">/* Enable Motors */</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        pinMode(<a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, OUTPUT);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">   95</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">init_timer</a>(uint8_t timer, uint16_t divisor) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordflow">if</span> (timer == 0) {</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            <span class="keywordflow">if</span> (divisor == 1) {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                TCCR0B = (TCCR0B &amp; B11111000) | B00000001;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 8) {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                TCCR0B = (TCCR0B &amp; B11111000) | B00000010;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 64) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                TCCR0B = (TCCR0B &amp; B11111000) | B00000011;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 256) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                TCCR0B = (TCCR0B &amp; B11111000) | B00000100;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 1024) {</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                TCCR0B = (TCCR0B &amp; B11111000) | B00000101;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            }</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">if</span> (timer == 1) {</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keywordflow">if</span> (divisor == 1) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                TCCR1B = (TCCR1B &amp; B11111000) | B00000001;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 8) {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                TCCR1B = (TCCR1B &amp; B11111000) | B00000010;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 64) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                TCCR1B = (TCCR1B &amp; B11111000) | B00000011;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 256) {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                TCCR1B = (TCCR1B &amp; B11111000) | B00000100;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 1024) {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                TCCR1B = (TCCR1B &amp; B11111000) | B00000101;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            }</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">if</span> (timer == 2) {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            <span class="keywordflow">if</span> (divisor == 1) {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000001;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 8) {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000010;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 32){</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000011;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 64) {</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000100;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 128) {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000101;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 256) {</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000110;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 1024) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                TCCR2B = (TCCR2B &amp; B11111000) | B00000111;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">  146</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">enable</a>() {</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        digitalWrite(<a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, HIGH);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    }</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">  155</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">disenable</a>() {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        digitalWrite(<a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, LOW);</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">  165</a></span>&#160;    uint16_t <a class="code" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">get_load</a>() {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordflow">return</span> analogRead(<a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a>);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">  176</a></span>&#160;    uint8_t <a class="code" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">get_fault</a>()</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    {</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordflow">return</span> digitalRead(<a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a>);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">  188</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(int16_t <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>) {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> == 0) {</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> &gt;= 0) {</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> + <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a>;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> &gt; <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>)</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            analogWrite(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, 0);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            analogWrite(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = -<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> + <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a>;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> &gt; <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>)</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            analogWrite(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            analogWrite(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, 0);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        }</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">  214</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>() {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        analogWrite(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, 0);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        analogWrite(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, 0);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">  226</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">set_min</a>(uint16_t min) {</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a> = min;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    }</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">  237</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">set_max</a>(uint16_t max) {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a> = max;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    }</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">  242</a></span>&#160;    uint8_t <a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, <a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, <a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a>, <a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, <a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a>;</div><div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">  243</a></span>&#160;    int16_t <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>, <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a>;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;};</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* MOTOR_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classmotor_html_a2a035f9f051ce59d705654966dd95851"><div class="ttname"><a href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor::motor</a></div><div class="ttdeci">motor(uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin, uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed)</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00038">motor.h:38</a></div></div>
+<div class="ttc" id="classmotor_html_ae106093068947e7b5453cfb70c06e83d"><div class="ttname"><a href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">motor::get_load</a></div><div class="ttdeci">uint16_t get_load()</div><div class="ttdoc">Calculate the load of DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00165">motor.h:165</a></div></div>
+<div class="ttc" id="classmotor_html_a7a8635dc94a8eb9a410b5dff9c658d09"><div class="ttname"><a href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">motor::_maxSpeed</a></div><div class="ttdeci">int16_t _maxSpeed</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00243">motor.h:243</a></div></div>
+<div class="ttc" id="classmotor_html_abee35525f6340b3a8118e8711a6033b4"><div class="ttname"><a href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">motor::enable</a></div><div class="ttdeci">void enable()</div><div class="ttdoc">Enable motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00146">motor.h:146</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="classmotor_html_ad3782417f957c2c0806bb37df3709b4a"><div class="ttname"><a href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">motor::_sf_pin</a></div><div class="ttdeci">uint8_t _sf_pin</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
+<div class="ttc" id="classmotor_html_a9881112348f2cf0d338fc47fefd66f15"><div class="ttname"><a href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">motor::set_max</a></div><div class="ttdeci">void set_max(uint16_t max)</div><div class="ttdoc">Update the maximum speed of DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00237">motor.h:237</a></div></div>
+<div class="ttc" id="classmotor_html_acc3ee3c3243453a974ca0e9f96e93bce"><div class="ttname"><a href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">motor::_pwm_pin2</a></div><div class="ttdeci">uint8_t _pwm_pin2</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
+<div class="ttc" id="classmotor_html_aad1f7bbc1a73c605947ce4a80a8019f8"><div class="ttname"><a href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">motor::_pwm_pin1</a></div><div class="ttdeci">uint8_t _pwm_pin1</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
+<div class="ttc" id="classmotor_html_a0a0c29d8c7332855eba796dc9d17d516"><div class="ttname"><a href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">motor::_fb_pin</a></div><div class="ttdeci">uint8_t _fb_pin</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
+<div class="ttc" id="classmotor_html_a14521e2beea4039acb94a5a20f3282ca"><div class="ttname"><a href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">motor::_minSpeed</a></div><div class="ttdeci">int16_t _minSpeed</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00243">motor.h:243</a></div></div>
+<div class="ttc" id="classmotor_html_a9395e462f009a775c5fbe11f4c39150c"><div class="ttname"><a href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">motor::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdoc">Stop moving the DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00214">motor.h:214</a></div></div>
+<div class="ttc" id="classmotor_html_a1aa585ea14305952469f95cb26f3ad2f"><div class="ttname"><a href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">motor::init_timer</a></div><div class="ttdeci">void init_timer(uint8_t timer, uint16_t divisor)</div><div class="ttdoc">Set timer frequency, for timers 0, 1, 2. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00095">motor.h:95</a></div></div>
+<div class="ttc" id="classmotor_html_a7c7a40ef8985fae55eda9b9254d760a7"><div class="ttname"><a href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">motor::init_pin</a></div><div class="ttdeci">void init_pin()</div><div class="ttdoc">Initialize pins of DC motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00055">motor.h:55</a></div></div>
+<div class="ttc" id="classmotor_html_aa8dc53ecf02031b944ef6658c2b14fde"><div class="ttname"><a href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">motor::_en_pin</a></div><div class="ttdeci">uint8_t _en_pin</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
+<div class="ttc" id="classmotor_html_ae21d592f52c6aa57a641ca3e99cf52b9"><div class="ttname"><a href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">motor::disenable</a></div><div class="ttdeci">void disenable()</div><div class="ttdoc">Disable motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00155">motor.h:155</a></div></div>
+<div class="ttc" id="classmotor_html"><div class="ttname"><a href="classmotor.html">motor</a></div><div class="ttdoc">Class that functions for interacting with a Motor Driver Carrier. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00035">motor.h:35</a></div></div>
+<div class="ttc" id="classmotor_html_a3fb941091e69025a6ed7b66b2458b302"><div class="ttname"><a href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">motor::get_fault</a></div><div class="ttdeci">uint8_t get_fault()</div><div class="ttdoc">Get the status flag of motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00176">motor.h:176</a></div></div>
+<div class="ttc" id="classmotor_html_a01f848ad7e9ff16b4cb61174d3a5a084"><div class="ttname"><a href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">motor::move</a></div><div class="ttdeci">void move(int16_t speed)</div><div class="ttdoc">Move the DC motor with constant voltage (~speed) </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00188">motor.h:188</a></div></div>
+<div class="ttc" id="classmotor_html_afcebea9102569fa416a2872f0d33b32e"><div class="ttname"><a href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">motor::set_min</a></div><div class="ttdeci">void set_min(uint16_t min)</div><div class="ttdoc">Update the minimum speed of DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00226">motor.h:226</a></div></div>
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+<tr class="memdesc:a276a7c4ba0f813d53715e2ec2595d906"><td class="mdescLeft">&#160;</td><td class="mdescRight">Digital input, to read the status of end-stop for motor 2.  <a href="#a276a7c4ba0f813d53715e2ec2595d906">More...</a><br /></td></tr>
+<tr class="separator:a276a7c4ba0f813d53715e2ec2595d906"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63538aadae7384dfdeae19989b6d5692"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a>&#160;&#160;&#160;2</td></tr>
+<tr class="memdesc:a63538aadae7384dfdeae19989b6d5692"><td class="mdescLeft">&#160;</td><td class="mdescRight">Digital output, to set the direction of RS485 communication.  <a href="#a63538aadae7384dfdeae19989b6d5692">More...</a><br /></td></tr>
+<tr class="separator:a63538aadae7384dfdeae19989b6d5692"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a526d580d324bce60a3e964066fae77e3"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a526d580d324bce60a3e964066fae77e3">SDA_PIN</a>&#160;&#160;&#160;3</td></tr>
+<tr class="memdesc:a526d580d324bce60a3e964066fae77e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">I2C data pin.  <a href="#a526d580d324bce60a3e964066fae77e3">More...</a><br /></td></tr>
+<tr class="separator:a526d580d324bce60a3e964066fae77e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a06c967e78bcedcee909a70764f879433"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a06c967e78bcedcee909a70764f879433">SCL_PIN</a>&#160;&#160;&#160;4</td></tr>
+<tr class="memdesc:a06c967e78bcedcee909a70764f879433"><td class="mdescLeft">&#160;</td><td class="mdescRight">I2C clock pin.  <a href="#a06c967e78bcedcee909a70764f879433">More...</a><br /></td></tr>
+<tr class="separator:a06c967e78bcedcee909a70764f879433"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0157ab3e88e2635fceafe002a02cec6e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a0157ab3e88e2635fceafe002a02cec6e">PIN12</a>&#160;&#160;&#160;12</td></tr>
+<tr class="memdesc:a0157ab3e88e2635fceafe002a02cec6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">General purpose I/O pin.  <a href="#a0157ab3e88e2635fceafe002a02cec6e">More...</a><br /></td></tr>
+<tr class="separator:a0157ab3e88e2635fceafe002a02cec6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a4d13c57f4d208901b04a7044774293"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a5a4d13c57f4d208901b04a7044774293">PIN13</a>&#160;&#160;&#160;13</td></tr>
+<tr class="memdesc:a5a4d13c57f4d208901b04a7044774293"><td class="mdescLeft">&#160;</td><td class="mdescRight">General purpose I/O pin.  <a href="#a5a4d13c57f4d208901b04a7044774293">More...</a><br /></td></tr>
+<tr class="separator:a5a4d13c57f4d208901b04a7044774293"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2946bc30423c2a996eeafa49e995c30e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a2946bc30423c2a996eeafa49e995c30e">A2</a>&#160;&#160;&#160;A2</td></tr>
+<tr class="memdesc:a2946bc30423c2a996eeafa49e995c30e"><td class="mdescLeft">&#160;</td><td class="mdescRight">General purpose I/O &amp; analog pin.  <a href="#a2946bc30423c2a996eeafa49e995c30e">More...</a><br /></td></tr>
+<tr class="separator:a2946bc30423c2a996eeafa49e995c30e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48cdc6c9a75eb611d0a703c94bdac6b8"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rotator__pins_8h.html#a48cdc6c9a75eb611d0a703c94bdac6b8">A3</a>&#160;&#160;&#160;A3</td></tr>
+<tr class="memdesc:a48cdc6c9a75eb611d0a703c94bdac6b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">General purpose I/O &amp; analog pin.  <a href="#a48cdc6c9a75eb611d0a703c94bdac6b8">More...</a><br /></td></tr>
+<tr class="separator:a48cdc6c9a75eb611d0a703c94bdac6b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a header file for pin mapping.</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a2946bc30423c2a996eeafa49e995c30e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2946bc30423c2a996eeafa49e995c30e">&#9670;&nbsp;</a></span>A2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define A2&#160;&#160;&#160;A2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>General purpose I/O &amp; analog pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00035">35</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a48cdc6c9a75eb611d0a703c94bdac6b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48cdc6c9a75eb611d0a703c94bdac6b8">&#9670;&nbsp;</a></span>A3</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define A3&#160;&#160;&#160;A3</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>General purpose I/O &amp; analog pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00036">36</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a4e12c241b5699b8487b50dbda38a2714"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e12c241b5699b8487b50dbda38a2714">&#9670;&nbsp;</a></span>M1FB</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M1FB&#160;&#160;&#160;A1</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 1 analog input, current/load feedback. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00016">16</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a52eb32b92f0d0d1fdfc59a83e22d389d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52eb32b92f0d0d1fdfc59a83e22d389d">&#9670;&nbsp;</a></span>M1IN1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M1IN1&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 1 PWM pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00013">13</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a157fe9dc9b50d6f912b57b3422848700"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a157fe9dc9b50d6f912b57b3422848700">&#9670;&nbsp;</a></span>M1IN2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M1IN2&#160;&#160;&#160;9</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 1 PWM pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00014">14</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a1bef437ea4477b69d7417946685cc582"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1bef437ea4477b69d7417946685cc582">&#9670;&nbsp;</a></span>M1SF</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M1SF&#160;&#160;&#160;7</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 1 digital input, status flag. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00015">15</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a756234870d4fec1dfb965e5a4ef4b5cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a756234870d4fec1dfb965e5a4ef4b5cd">&#9670;&nbsp;</a></span>M2FB</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M2FB&#160;&#160;&#160;A0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 2 analog input, current/load feedback. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00021">21</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="ad43a98121cb04032302978a3319ba24e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad43a98121cb04032302978a3319ba24e">&#9670;&nbsp;</a></span>M2IN1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M2IN1&#160;&#160;&#160;11</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 2 PWM pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00018">18</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a1f7e92e76bed5849fc1edc2e42c995dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f7e92e76bed5849fc1edc2e42c995dc">&#9670;&nbsp;</a></span>M2IN2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M2IN2&#160;&#160;&#160;3</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 2 PWM pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00019">19</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a84c33ece7372e98a2b47c81491a06474"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a84c33ece7372e98a2b47c81491a06474">&#9670;&nbsp;</a></span>M2SF</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M2SF&#160;&#160;&#160;6</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor 2 digital input, status flag. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00020">20</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a30b8dc781a6fe8ee7745feac552cb858"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30b8dc781a6fe8ee7745feac552cb858">&#9670;&nbsp;</a></span>MOTOR_EN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MOTOR_EN&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Digital output, to enable the motors. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00023">23</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a0157ab3e88e2635fceafe002a02cec6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0157ab3e88e2635fceafe002a02cec6e">&#9670;&nbsp;</a></span>PIN12</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PIN12&#160;&#160;&#160;12</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>General purpose I/O pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00033">33</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a5a4d13c57f4d208901b04a7044774293"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a4d13c57f4d208901b04a7044774293">&#9670;&nbsp;</a></span>PIN13</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PIN13&#160;&#160;&#160;13</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>General purpose I/O pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00034">34</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a63538aadae7384dfdeae19989b6d5692"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63538aadae7384dfdeae19989b6d5692">&#9670;&nbsp;</a></span>RS485_DIR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define RS485_DIR&#160;&#160;&#160;2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Digital output, to set the direction of RS485 communication. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00028">28</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a06c967e78bcedcee909a70764f879433"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06c967e78bcedcee909a70764f879433">&#9670;&nbsp;</a></span>SCL_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SCL_PIN&#160;&#160;&#160;4</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>I2C clock pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00031">31</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a526d580d324bce60a3e964066fae77e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a526d580d324bce60a3e964066fae77e3">&#9670;&nbsp;</a></span>SDA_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SDA_PIN&#160;&#160;&#160;3</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>I2C data pin. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00030">30</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="ad98a4599f8bbf48bb5b425ce5edb5a42"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad98a4599f8bbf48bb5b425ce5edb5a42">&#9670;&nbsp;</a></span>SW1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SW1&#160;&#160;&#160;5</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Digital input, to read the status of end-stop for motor 1. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00025">25</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
+</div>
+</div>
+<a id="a276a7c4ba0f813d53715e2ec2595d906"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a276a7c4ba0f813d53715e2ec2595d906">&#9670;&nbsp;</a></span>SW2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SW2&#160;&#160;&#160;4</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Digital input, to read the status of end-stop for motor 2. </p>
+
+<p class="definition">Definition at line <a class="el" href="rotator__pins_8h_source.html#l00026">26</a> of file <a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>.</p>
+
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+</div>
+</div><!-- contents -->
+<!-- start footer part -->
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">rs485.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrs485.html">rs485</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class that functions for interacting with a RS485 transceiver.  <a href="classrs485.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for half-duplex RS485 transceiver.</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="rs485_8h_source.html">rs485.h</a>.</p>
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+<a href="rs485_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef RS485_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define RS485_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classrs485.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrs485.html">rs485</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">   26</a></span>&#160;    <a class="code" href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">rs485</a>(uint8_t pin_dir, uint16_t tx_time) {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <a class="code" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">_pin_dir</a> = pin_dir;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <a class="code" href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">_tx_time</a> = tx_time;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    }</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">   38</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">begin</a>(uint16_t baudrate) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        pinMode(<a class="code" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">_pin_dir</a>, OUTPUT);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        Serial.begin(baudrate);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">   50</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(String str) {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        digitalWrite(<a class="code" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">_pin_dir</a>, HIGH);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        Serial.print(str);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        delay(<a class="code" href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">_tx_time</a>);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        digitalWrite(<a class="code" href="classrs485.html#a8a09bf5dcd2b3274220eb95c6323e2bf">_pin_dir</a>, LOW);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; 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+<div class="ttc" id="classrs485_html_ab7cf3f6e3b6e6d79dc490145aa3c1b12"><div class="ttname"><a href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">rs485::begin</a></div><div class="ttdeci">void begin(uint16_t baudrate)</div><div class="ttdoc">Initialize the RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00038">rs485.h:38</a></div></div>
+<div class="ttc" id="classrs485_html_a1b38109fc4d9cf9f98cebda6d6f2b033"><div class="ttname"><a href="classrs485.html#a1b38109fc4d9cf9f98cebda6d6f2b033">rs485::_tx_time</a></div><div class="ttdeci">uint16_t _tx_time</div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00097">rs485.h:97</a></div></div>
+<div class="ttc" id="classrs485_html_a204229ca0c3ee5d24d4c5eac9a543ef7"><div class="ttname"><a href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">rs485::available</a></div><div class="ttdeci">uint8_t available(void)</div><div class="ttdoc">The number of chars/uint8_t that are available in RS485 buffer. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00073">rs485.h:73</a></div></div>
+<div class="ttc" id="classrs485_html_a1a7d6743372a514e371f761d357b3bd8"><div class="ttname"><a href="classrs485.html#a1a7d6743372a514e371f761d357b3bd8">rs485::end</a></div><div class="ttdeci">void end()</div><div class="ttdoc">Disables RS485 communication. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00091">rs485.h:91</a></div></div>
+<div class="ttc" id="classrs485_html_acd42457ff65a8979a5cdd62b64d1b905"><div class="ttname"><a href="classrs485.html#acd42457ff65a8979a5cdd62b64d1b905">rs485::rs485</a></div><div class="ttdeci">rs485(uint8_t pin_dir, uint16_t tx_time)</div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00026">rs485.h:26</a></div></div>
+<div class="ttc" id="classrs485_html_ac549517006a6b2cff970e3390ccd2c45"><div class="ttname"><a href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">rs485::read</a></div><div class="ttdeci">uint8_t read()</div><div class="ttdoc">Read a char/uint8_t from RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00063">rs485.h:63</a></div></div>
+<div class="ttc" id="classrs485_html_af02e2635ac5bb688bc9f05895a983704"><div class="ttname"><a href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">rs485::flush</a></div><div class="ttdeci">void flush()</div><div class="ttdoc">Waits for the transmission of outgoing serial data to complete. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00082">rs485.h:82</a></div></div>
+<div class="ttc" id="classrs485_html_acffe305907c9de94dda20135bc6ad93a"><div class="ttname"><a href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">rs485::print</a></div><div class="ttdeci">void print(String str)</div><div class="ttdoc">Print a string to RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00050">rs485.h:50</a></div></div>
+<div class="ttc" id="classrs485_html"><div class="ttname"><a href="classrs485.html">rs485</a></div><div class="ttdoc">Class that functions for interacting with a RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00023">rs485.h:23</a></div></div>
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+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+}
+
+.SRResult {
+    display: none;
+}
+
+DIV.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/doxygen_files/html/search/search.js b/doxygen_files/html/search/search.js
new file mode 100644
index 0000000..a554ab9
--- /dev/null
+++ b/doxygen_files/html/search/search.js
@@ -0,0 +1,814 @@
+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else if (window.frames.MSearchResults.searchResults)
+      {
+        var elem = window.frames.MSearchResults.searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches.html';
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName == 'DIV' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName == 'DIV' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           parent.document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        }
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
+
+function setKeyActions(elem,action)
+{
+  elem.setAttribute('onkeydown',action);
+  elem.setAttribute('onkeypress',action);
+  elem.setAttribute('onkeyup',action);
+}
+
+function setClassAttr(elem,attr)
+{
+  elem.setAttribute('class',attr);
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diff --git a/doxygen_files/html/stepper__motor__controller_2build-satnogs_2platformlibs_2Wire_2src_2utility_2twi_8c_8d_source.html b/doxygen_files/html/stepper__motor__controller_2build-satnogs_2platformlibs_2Wire_2src_2utility_2twi_8c_8d_source.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#define-members">Macros</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">stepper_motor_controller.ino File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;AccelStepper.h&gt;</code><br />
+<code>#include &lt;Wire.h&gt;</code><br />
+<code>#include &quot;<a class="el" href="globals_8h_source.html">../libraries/globals.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="easycomm_8h_source.html">../libraries/easycomm.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="rotator__pins_8h_source.html">../libraries/rotator_pins.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="rs485_8h_source.html">../libraries/rs485.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="endstop_8h_source.html">../libraries/endstop.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="watchdog_8h_source.html">../libraries/watchdog.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
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+<tr class="memitem:a6f6f49388c74bb24a8f63771bd997d97"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">SAMPLE_TIME</a>&#160;&#160;&#160;0.1</td></tr>
+<tr class="memdesc:a6f6f49388c74bb24a8f63771bd997d97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Control loop in s.  <a href="#a6f6f49388c74bb24a8f63771bd997d97">More...</a><br /></td></tr>
+<tr class="separator:a6f6f49388c74bb24a8f63771bd997d97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7e8b3c8482e593df0ace933ad3de22ee"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">RATIO</a>&#160;&#160;&#160;54</td></tr>
+<tr class="memdesc:a7e8b3c8482e593df0ace933ad3de22ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gear ratio of rotator gear box.  <a href="#a7e8b3c8482e593df0ace933ad3de22ee">More...</a><br /></td></tr>
+<tr class="separator:a7e8b3c8482e593df0ace933ad3de22ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca9cca604052ac7a6f173b58b7d6e126"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#aca9cca604052ac7a6f173b58b7d6e126">MICROSTEP</a>&#160;&#160;&#160;8</td></tr>
+<tr class="memdesc:aca9cca604052ac7a6f173b58b7d6e126"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set Microstep.  <a href="#aca9cca604052ac7a6f173b58b7d6e126">More...</a><br /></td></tr>
+<tr class="separator:aca9cca604052ac7a6f173b58b7d6e126"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad95c8286fc30ece77d632ad00a94d80e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">MIN_PULSE_WIDTH</a>&#160;&#160;&#160;20</td></tr>
+<tr class="memdesc:ad95c8286fc30ece77d632ad00a94d80e"><td class="mdescLeft">&#160;</td><td class="mdescRight">In microsecond for AccelStepper.  <a href="#ad95c8286fc30ece77d632ad00a94d80e">More...</a><br /></td></tr>
+<tr class="separator:ad95c8286fc30ece77d632ad00a94d80e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2cd96d53dd3ba6407db6766c3d92b26"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">MAX_SPEED</a>&#160;&#160;&#160;6400</td></tr>
+<tr class="memdesc:ac2cd96d53dd3ba6407db6766c3d92b26"><td class="mdescLeft">&#160;</td><td class="mdescRight">In steps/s, consider the microstep.  <a href="#ac2cd96d53dd3ba6407db6766c3d92b26">More...</a><br /></td></tr>
+<tr class="separator:ac2cd96d53dd3ba6407db6766c3d92b26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a58daa60c7e280af9449f3cc46097652b"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">MAX_ACCELERATION</a>&#160;&#160;&#160;1600</td></tr>
+<tr class="memdesc:a58daa60c7e280af9449f3cc46097652b"><td class="mdescLeft">&#160;</td><td class="mdescRight">In steps/s^2, consider the microstep.  <a href="#a58daa60c7e280af9449f3cc46097652b">More...</a><br /></td></tr>
+<tr class="separator:a58daa60c7e280af9449f3cc46097652b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abc0e9de1ad11261774993fbad495209e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">SPR</a>&#160;&#160;&#160;1600L</td></tr>
+<tr class="memdesc:abc0e9de1ad11261774993fbad495209e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Step Per Revolution, consider the microstep.  <a href="#abc0e9de1ad11261774993fbad495209e">More...</a><br /></td></tr>
+<tr class="separator:abc0e9de1ad11261774993fbad495209e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4acc4b3e38c809c8ca4d84d5c1083cf"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">MIN_M1_ANGLE</a>&#160;&#160;&#160;0</td></tr>
+<tr class="memdesc:af4acc4b3e38c809c8ca4d84d5c1083cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum angle of azimuth.  <a href="#af4acc4b3e38c809c8ca4d84d5c1083cf">More...</a><br /></td></tr>
+<tr class="separator:af4acc4b3e38c809c8ca4d84d5c1083cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac81f1607c784261cee0a9759a35f18ff"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">MAX_M1_ANGLE</a>&#160;&#160;&#160;360</td></tr>
+<tr class="memdesc:ac81f1607c784261cee0a9759a35f18ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum angle of azimuth.  <a href="#ac81f1607c784261cee0a9759a35f18ff">More...</a><br /></td></tr>
+<tr class="separator:ac81f1607c784261cee0a9759a35f18ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a45dd8cb284dc0672f292e90909ecc530"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">MIN_M2_ANGLE</a>&#160;&#160;&#160;0</td></tr>
+<tr class="memdesc:a45dd8cb284dc0672f292e90909ecc530"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum angle of elevation.  <a href="#a45dd8cb284dc0672f292e90909ecc530">More...</a><br /></td></tr>
+<tr class="separator:a45dd8cb284dc0672f292e90909ecc530"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acaea33d85a46b9afdd404f6a45da8470"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">MAX_M2_ANGLE</a>&#160;&#160;&#160;180</td></tr>
+<tr class="memdesc:acaea33d85a46b9afdd404f6a45da8470"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum angle of elevation.  <a href="#acaea33d85a46b9afdd404f6a45da8470">More...</a><br /></td></tr>
+<tr class="separator:acaea33d85a46b9afdd404f6a45da8470"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9fdf484ccfc3264b1505135c801aadc"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>&#160;&#160;&#160;HIGH</td></tr>
+<tr class="memdesc:aa9fdf484ccfc3264b1505135c801aadc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change to LOW according to Home sensor.  <a href="#aa9fdf484ccfc3264b1505135c801aadc">More...</a><br /></td></tr>
+<tr class="separator:aa9fdf484ccfc3264b1505135c801aadc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf4a8c328d7d16e349494adf938d575c"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#acf4a8c328d7d16e349494adf938d575c">HOME_DELAY</a>&#160;&#160;&#160;10000</td></tr>
+<tr class="memdesc:acf4a8c328d7d16e349494adf938d575c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for homing Deceleration in millisecond.  <a href="#acf4a8c328d7d16e349494adf938d575c">More...</a><br /></td></tr>
+<tr class="separator:acf4a8c328d7d16e349494adf938d575c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ac9a4325f61d2c3b2f45582cc3234df41"><td class="memItemLeft" align="right" valign="top">AccelStepper&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a> (1, <a class="el" href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">M1IN1</a>, <a class="el" href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">M1IN2</a>)</td></tr>
+<tr class="separator:ac9a4325f61d2c3b2f45582cc3234df41"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae50506f007819f8841a2ead6e8ddb509"><td class="memItemLeft" align="right" valign="top">AccelStepper&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a> (1, <a class="el" href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">M2IN1</a>, <a class="el" href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">M2IN2</a>)</td></tr>
+<tr class="separator:ae50506f007819f8841a2ead6e8ddb509"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe48c9319f61788ed4622597bdaf17ab"><td class="memItemLeft" align="right" valign="top">enum <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">homing</a> (int32_t seek_az, int32_t seek_el)</td></tr>
+<tr class="memdesc:afe48c9319f61788ed4622597bdaf17ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move both axis with one direction in order to find home position, end-stop switches.  <a href="#afe48c9319f61788ed4622597bdaf17ab">More...</a><br /></td></tr>
+<tr class="separator:afe48c9319f61788ed4622597bdaf17ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a989afa0bbcee20968a0c01cb53bf3159"><td class="memItemLeft" align="right" valign="top">int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a> (float deg)</td></tr>
+<tr class="memdesc:a989afa0bbcee20968a0c01cb53bf3159"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert degrees to steps according to step/revolution, rotator gear box ratio and microstep.  <a href="#a989afa0bbcee20968a0c01cb53bf3159">More...</a><br /></td></tr>
+<tr class="separator:a989afa0bbcee20968a0c01cb53bf3159"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d74466a27b92f353f6e74a079bb228d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">step2deg</a> (int32_t step)</td></tr>
+<tr class="memdesc:a8d74466a27b92f353f6e74a079bb228d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert steps to degrees according to step/revolution, rotator gear box ratio and microstep.  <a href="#a8d74466a27b92f353f6e74a079bb228d">More...</a><br /></td></tr>
+<tr class="separator:a8d74466a27b92f353f6e74a079bb228d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4fc01d736fe50cf5b977f755b675f11d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">setup</a> ()</td></tr>
+<tr class="separator:a4fc01d736fe50cf5b977f755b675f11d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe461d27b9c48d5921c00d521181f12f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">loop</a> ()</td></tr>
+<tr class="separator:afe461d27b9c48d5921c00d521181f12f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:ab758c64f84e0623e98a61e37b9bdd2b7"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">t_run</a> = 0</td></tr>
+<tr class="separator:ab758c64f84e0623e98a61e37b9bdd2b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43731445552d0e8cea4cbc7c75ba56cb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classeasycomm.html">easycomm</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a></td></tr>
+<tr class="separator:a43731445552d0e8cea4cbc7c75ba56cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0c0a9fc59fead4da5429a12a827f6e92"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classendstop.html">endstop</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a> (<a class="el" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a>, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>)</td></tr>
+<tr class="separator:a0c0a9fc59fead4da5429a12a827f6e92"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0886ffe9fa915cc70ac3ed7e528145d9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classendstop.html">endstop</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a> (<a class="el" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a>, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>)</td></tr>
+<tr class="separator:a0886ffe9fa915cc70ac3ed7e528145d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa21a88a61f63525bb1db8401772e7f70"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classwdt__timer.html">wdt_timer</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a></td></tr>
+<tr class="separator:aa21a88a61f63525bb1db8401772e7f70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This is the documentation for satnogs rotator controller firmware for stepper motors configuration. The board (PCB) is placed in <a href="https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-controller">satnogs-rotator-controller </a> and is for releases: v2.0 v2.1 v2.2 <a href="https://wiki.satnogs.org/SatNOGS_Rotator_Controller">wiki page </a></p>
+<h1><a class="anchor" id="dependencies"></a>
+Dependencies</h1>
+<p>This firmware depends on <a href="http://www.airspayce.com/mikem/arduino/AccelStepper/index.htmlhttp://www.airspayce.com/mikem/arduino/AccelStepper/index.html">AccelStepper library</a> being present on your system. Please make sure you have installed the latest version before using this firmware.</p>
+<h1><a class="anchor" id="license"></a>
+License</h1>
+<p>Licensed under the GPLv3. </p>
+
+<p class="definition">Definition in file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="aa9fdf484ccfc3264b1505135c801aadc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9fdf484ccfc3264b1505135c801aadc">&#9670;&nbsp;</a></span>DEFAULT_HOME_STATE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define DEFAULT_HOME_STATE&#160;&#160;&#160;HIGH</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Change to LOW according to Home sensor. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00036">36</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="acf4a8c328d7d16e349494adf938d575c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf4a8c328d7d16e349494adf938d575c">&#9670;&nbsp;</a></span>HOME_DELAY</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define HOME_DELAY&#160;&#160;&#160;10000</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Time for homing Deceleration in millisecond. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00037">37</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>.</p>
+
+</div>
+</div>
+<a id="a58daa60c7e280af9449f3cc46097652b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58daa60c7e280af9449f3cc46097652b">&#9670;&nbsp;</a></span>MAX_ACCELERATION</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_ACCELERATION&#160;&#160;&#160;1600</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>In steps/s^2, consider the microstep. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00030">30</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="ac81f1607c784261cee0a9759a35f18ff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac81f1607c784261cee0a9759a35f18ff">&#9670;&nbsp;</a></span>MAX_M1_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_M1_ANGLE&#160;&#160;&#160;360</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Maximum angle of azimuth. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00033">33</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="acaea33d85a46b9afdd404f6a45da8470"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acaea33d85a46b9afdd404f6a45da8470">&#9670;&nbsp;</a></span>MAX_M2_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_M2_ANGLE&#160;&#160;&#160;180</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Maximum angle of elevation. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00035">35</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="ac2cd96d53dd3ba6407db6766c3d92b26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2cd96d53dd3ba6407db6766c3d92b26">&#9670;&nbsp;</a></span>MAX_SPEED</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_SPEED&#160;&#160;&#160;6400</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>In steps/s, consider the microstep. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00029">29</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="aca9cca604052ac7a6f173b58b7d6e126"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca9cca604052ac7a6f173b58b7d6e126">&#9670;&nbsp;</a></span>MICROSTEP</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MICROSTEP&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set Microstep. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00027">27</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="af4acc4b3e38c809c8ca4d84d5c1083cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4acc4b3e38c809c8ca4d84d5c1083cf">&#9670;&nbsp;</a></span>MIN_M1_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MIN_M1_ANGLE&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Minimum angle of azimuth. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00032">32</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="a45dd8cb284dc0672f292e90909ecc530"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45dd8cb284dc0672f292e90909ecc530">&#9670;&nbsp;</a></span>MIN_M2_ANGLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MIN_M2_ANGLE&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Minimum angle of elevation. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00034">34</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="ad95c8286fc30ece77d632ad00a94d80e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad95c8286fc30ece77d632ad00a94d80e">&#9670;&nbsp;</a></span>MIN_PULSE_WIDTH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MIN_PULSE_WIDTH&#160;&#160;&#160;20</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>In microsecond for AccelStepper. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00028">28</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a7e8b3c8482e593df0ace933ad3de22ee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e8b3c8482e593df0ace933ad3de22ee">&#9670;&nbsp;</a></span>RATIO</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define RATIO&#160;&#160;&#160;54</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gear ratio of rotator gear box. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00026">26</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00211">deg2step()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00224">step2deg()</a>.</p>
+
+</div>
+</div>
+<a id="a6f6f49388c74bb24a8f63771bd997d97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f6f49388c74bb24a8f63771bd997d97">&#9670;&nbsp;</a></span>SAMPLE_TIME</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SAMPLE_TIME&#160;&#160;&#160;0.1</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Control loop in s. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00025">25</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="abc0e9de1ad11261774993fbad495209e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc0e9de1ad11261774993fbad495209e">&#9670;&nbsp;</a></span>SPR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SPR&#160;&#160;&#160;1600L</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Step Per Revolution, consider the microstep. </p>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00031">31</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00211">deg2step()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00224">step2deg()</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a989afa0bbcee20968a0c01cb53bf3159"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a989afa0bbcee20968a0c01cb53bf3159">&#9670;&nbsp;</a></span>deg2step()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int32_t deg2step </td>
+          <td>(</td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>deg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convert degrees to steps according to step/revolution, rotator gear box ratio and microstep. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">deg</td><td>Degrees in float format </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Steps for stepper motor driver, int32_t </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00211">211</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="stepper__motor__controller_8ino_source.html#l00026">RATIO</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00031">SPR</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="afe48c9319f61788ed4622597bdaf17ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe48c9319f61788ed4622597bdaf17ab">&#9670;&nbsp;</a></span>homing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> homing </td>
+          <td>(</td>
+          <td class="paramtype">int32_t&#160;</td>
+          <td class="paramname"><em>seek_az</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int32_t&#160;</td>
+          <td class="paramname"><em>seek_el</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Move both axis with one direction in order to find home position, end-stop switches. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">seek_az</td><td>Steps to find home position for azimuth axis </td></tr>
+    <tr><td class="paramname">seek_el</td><td>Steps to find home position for elevation axis </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>_rotator_error </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">154</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="globals_8h_source.html#l00051">control_az</a>, <a class="el" href="globals_8h_source.html#l00054">control_el</a>, <a class="el" href="endstop_8h_source.html#l00045">endstop::get_state()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00037">HOME_DELAY</a>, <a class="el" href="globals_8h_source.html#l00021">homing_error</a>, <a class="el" href="globals_8h_source.html#l00021">no_error</a>, <a class="el" href="globals_8h_source.html#l00033">_control::setpoint</a>, <a class="el" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az()</a>, <a class="el" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el()</a>, <a class="el" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>, <a class="el" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>, <a class="el" href="watchdog_8h_source.html#l00045">wdt_timer::watchdog_reset()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00053">wdt</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="stepper__motor__controller_8ino_afe48c9319f61788ed4622597bdaf17ab_cgraph.png" border="0" usemap="#stepper__motor__controller_8ino_afe48c9319f61788ed4622597bdaf17ab_cgraph" alt=""/></div>
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+
+</div>
+</div>
+<a id="afe461d27b9c48d5921c00d521181f12f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe461d27b9c48d5921c00d521181f12f">&#9670;&nbsp;</a></span>loop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void loop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">84</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="stepper__motor__controller_8ino_source.html#l00049">comm</a>, <a class="el" href="globals_8h_source.html#l00051">control_az</a>, <a class="el" href="globals_8h_source.html#l00054">control_el</a>, <a class="el" href="globals_8h_source.html#l00043">_rotator::control_mode</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00211">deg2step()</a>, <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="globals_8h_source.html#l00017">error</a>, <a class="el" href="endstop_8h_source.html#l00045">endstop::get_state()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, <a class="el" href="globals_8h_source.html#l00021">homing_error</a>, <a class="el" href="globals_8h_source.html#l00044">_rotator::homing_flag</a>, <a class="el" href="globals_8h_source.html#l00017">idle</a>, <a class="el" href="globals_8h_source.html#l00030">_control::input</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00033">MAX_M1_ANGLE</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00035">MAX_M2_ANGLE</a>, <a class="el" href="globals_8h_source.html#l00021">no_error</a>, <a class="el" href="globals_8h_source.html#l00017">pointing</a>, <a class="el" href="globals_8h_source.html#l00026">position</a>, <a class="el" href="globals_8h_source.html#l00057">rotator</a>, <a class="el" href="globals_8h_source.html#l00042">_rotator::rotator_error</a>, <a class="el" href="globals_8h_source.html#l00041">_rotator::rotator_status</a>, <a class="el" href="globals_8h_source.html#l00033">_control::setpoint</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00224">step2deg()</a>, <a class="el" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az()</a>, <a class="el" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el()</a>, <a class="el" href="globals_8h_source.html#l00048">_rotator::switch_az</a>, <a class="el" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>, <a class="el" href="globals_8h_source.html#l00048">_rotator::switch_el</a>, <a class="el" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>, <a class="el" href="watchdog_8h_source.html#l00045">wdt_timer::watchdog_reset()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00053">wdt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="stepper__motor__controller_8ino_afe461d27b9c48d5921c00d521181f12f_cgraph.png" border="0" usemap="#stepper__motor__controller_8ino_afe461d27b9c48d5921c00d521181f12f_cgraph" alt=""/></div>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4fc01d736fe50cf5b977f755b675f11d">&#9670;&nbsp;</a></span>setup()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void setup </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">59</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="stepper__motor__controller_8ino_source.html#l00049">comm</a>, <a class="el" href="easycomm_8h_source.html#l00039">easycomm::easycomm_init()</a>, <a class="el" href="endstop_8h_source.html#l00035">endstop::init()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00030">MAX_ACCELERATION</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00029">MAX_SPEED</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00028">MIN_PULSE_WIDTH</a>, <a class="el" href="rotator__pins_8h_source.html#l00023">MOTOR_EN</a>, <a class="el" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az()</a>, <a class="el" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el()</a>, <a class="el" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>, <a class="el" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>, <a class="el" href="watchdog_8h_source.html#l00032">wdt_timer::watchdog_init()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00053">wdt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="stepper__motor__controller_8ino_a4fc01d736fe50cf5b977f755b675f11d_cgraph.png" border="0" usemap="#stepper__motor__controller_8ino_a4fc01d736fe50cf5b977f755b675f11d_cgraph" alt=""/></div>
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+<area shape="rect" id="node2" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6" title="Initialize the RS485 bus. " alt="" coords="112,5,315,32"/>
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+<area shape="rect" id="node7" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355" title="Initialize watchdog timer to 2sec time out and to set up interrupt routine. " alt="" coords="120,208,307,235"/>
+<area shape="rect" id="node3" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12" title="Initialize the RS485 transceiver. " alt="" coords="363,5,465,32"/>
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+</div>
+
+</div>
+</div>
+<a id="a8d74466a27b92f353f6e74a079bb228d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d74466a27b92f353f6e74a079bb228d">&#9670;&nbsp;</a></span>step2deg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float step2deg </td>
+          <td>(</td>
+          <td class="paramtype">int32_t&#160;</td>
+          <td class="paramname"><em>step</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convert steps to degrees according to step/revolution, rotator gear box ratio and microstep. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">step</td><td>Steps in int32_t format </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Degrees in float format </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00224">224</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">References <a class="el" href="stepper__motor__controller_8ino_source.html#l00026">RATIO</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00031">SPR</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="ac9a4325f61d2c3b2f45582cc3234df41"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9a4325f61d2c3b2f45582cc3234df41">&#9670;&nbsp;</a></span>stepper_az()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">AccelStepper stepper_az </td>
+          <td>(</td>
+          <td class="paramtype">1&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">M1IN1</a>&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">M1IN2</a>&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="ae50506f007819f8841a2ead6e8ddb509"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae50506f007819f8841a2ead6e8ddb509">&#9670;&nbsp;</a></span>stepper_el()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">AccelStepper stepper_el </td>
+          <td>(</td>
+          <td class="paramtype">1&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">M2IN1</a>&#160;</td>
+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">M2IN2</a>&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a43731445552d0e8cea4cbc7c75ba56cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43731445552d0e8cea4cbc7c75ba56cb">&#9670;&nbsp;</a></span>comm</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classeasycomm.html">easycomm</a> comm</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00049">49</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a0c0a9fc59fead4da5429a12a827f6e92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c0a9fc59fead4da5429a12a827f6e92">&#9670;&nbsp;</a></span>switch_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classendstop.html">endstop</a> switch_az(<a class="el" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a>, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="a0886ffe9fa915cc70ac3ed7e528145d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0886ffe9fa915cc70ac3ed7e528145d9">&#9670;&nbsp;</a></span>switch_el</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classendstop.html">endstop</a> switch_el(<a class="el" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a>, <a class="el" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
+<a id="ab758c64f84e0623e98a61e37b9bdd2b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab758c64f84e0623e98a61e37b9bdd2b7">&#9670;&nbsp;</a></span>t_run</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t t_run = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00048">48</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+</div>
+</div>
+<a id="aa21a88a61f63525bb1db8401772e7f70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa21a88a61f63525bb1db8401772e7f70">&#9670;&nbsp;</a></span>wdt</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classwdt__timer.html">wdt_timer</a> wdt</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="stepper__motor__controller_8ino_source.html#l00053">53</a> of file <a class="el" href="stepper__motor__controller_8ino_source.html">stepper_motor_controller.ino</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00059">setup()</a>.</p>
+
+</div>
+</div>
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+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
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+</body>
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diff --git a/doxygen_files/html/stepper__motor__controller_8ino_8d.html b/doxygen_files/html/stepper__motor__controller_8ino_8d.html
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+<p><a href="stepper__motor__controller_8ino_8d_source.html">Go to the source code of this file.</a></p>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<script type="text/javascript">
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+<a href="stepper__motor__controller_8ino.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a6f6f49388c74bb24a8f63771bd997d97">   25</a></span>&#160;<span class="preprocessor">#define SAMPLE_TIME        0.1   </span></div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">   26</a></span>&#160;<span class="preprocessor">#define RATIO              54    </span></div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#aca9cca604052ac7a6f173b58b7d6e126">   27</a></span>&#160;<span class="preprocessor">#define MICROSTEP          8     </span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">   28</a></span>&#160;<span class="preprocessor">#define MIN_PULSE_WIDTH    20    </span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">   29</a></span>&#160;<span class="preprocessor">#define MAX_SPEED          6400  </span></div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">   30</a></span>&#160;<span class="preprocessor">#define MAX_ACCELERATION   1600  </span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">   31</a></span>&#160;<span class="preprocessor">#define SPR                1600L </span></div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#af4acc4b3e38c809c8ca4d84d5c1083cf">   32</a></span>&#160;<span class="preprocessor">#define MIN_M1_ANGLE       0     </span></div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">   33</a></span>&#160;<span class="preprocessor">#define MAX_M1_ANGLE       360   </span></div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a45dd8cb284dc0672f292e90909ecc530">   34</a></span>&#160;<span class="preprocessor">#define MIN_M2_ANGLE       0     </span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">   35</a></span>&#160;<span class="preprocessor">#define MAX_M2_ANGLE       180   </span></div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">   36</a></span>&#160;<span class="preprocessor">#define DEFAULT_HOME_STATE HIGH  </span></div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#acf4a8c328d7d16e349494adf938d575c">   37</a></span>&#160;<span class="preprocessor">#define HOME_DELAY         10000 </span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor"></span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;AccelStepper.h&gt;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;Wire.h&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;../libraries/globals.h&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;../libraries/easycomm.h&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;../libraries/rotator_pins.h&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &quot;../libraries/rs485.h&quot;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &quot;../libraries/endstop.h&quot;</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &quot;../libraries/watchdog.h&quot;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">   48</a></span>&#160;uint32_t <a class="code" href="stepper__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">t_run</a> = 0; <span class="comment">// run time of uC</span></div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">   49</a></span>&#160;<a class="code" href="classeasycomm.html">easycomm</a> <a class="code" href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;AccelStepper <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>(1, <a class="code" href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">M1IN1</a>, <a class="code" href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">M1IN2</a>);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;AccelStepper <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>(1, <a class="code" href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">M2IN1</a>, <a class="code" href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">M2IN2</a>);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<a class="code" href="classendstop.html">endstop</a> <a class="code" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>(<a class="code" href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a>, <a class="code" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>), <a class="code" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>(<a class="code" href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a>, <a class="code" href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a>);</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">   53</a></span>&#160;<a class="code" href="classwdt__timer.html">wdt_timer</a> <a class="code" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">enum</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> <a class="code" href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">homing</a>(int32_t seek_az, int32_t seek_el);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;int32_t <a class="code" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a>(<span class="keywordtype">float</span> deg);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">float</span> <a class="code" href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">step2deg</a>(int32_t step);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">   59</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="stepper__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">setup</a>() {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// Homing switch</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>.<a class="code" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a>();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>.<a class="code" href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">init</a>();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// Serial Communication</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a>.<a class="code" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm_init</a>();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// Stepper Motor setup</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.setEnablePin(<a class="code" href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a>);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.setPinsInverted(<span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">true</span>);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.enableOutputs();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.setMaxSpeed(<a class="code" href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">MAX_SPEED</a>);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.setAcceleration(<a class="code" href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">MAX_ACCELERATION</a>);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.setMinPulseWidth(<a class="code" href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">MIN_PULSE_WIDTH</a>);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.setPinsInverted(<span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">true</span>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.enableOutputs();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.setMaxSpeed(<a class="code" href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">MAX_SPEED</a>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.setAcceleration(<a class="code" href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">MAX_ACCELERATION</a>);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.setMinPulseWidth(<a class="code" href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">MIN_PULSE_WIDTH</a>);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="comment">// Initialize WDT</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">watchdog_init</a>();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">   84</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="stepper__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">loop</a>() {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="comment">// Update WDT</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">// Get end stop status</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a> = <a class="code" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>();</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a> = <a class="code" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="comment">// Run easycomm implementation</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a>.<a class="code" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm_proc</a>();</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// Get position of both axis</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a> = <a class="code" href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">step2deg</a>(<a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.currentPosition());</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a 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name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a> == <span class="keyword">false</span>) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="comment">// Check home flag</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            <span class="comment">// Homing</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">homing</a>(<a class="code" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a>(-<a class="code" href="stepper__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">MAX_M1_ANGLE</a>),</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                                           <a class="code" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a>(-<a class="code" href="stepper__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">MAX_M2_ANGLE</a>));</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> == <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>) {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                <span class="comment">// No error</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                <span class="comment">// Error</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a>;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            }</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            <span class="comment">// Control Loop</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.moveTo(<a class="code" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a>(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a>));</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.moveTo(<a class="code" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a>(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a>));</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">pointing</a>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="comment">// Move azimuth and elevation motors</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.run();</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.run();</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="comment">// Idle rotator</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keywordflow">if</span> (<a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.distanceToGo() == 0 &amp;&amp; <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.distanceToGo() == 0) {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        }</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="comment">// Error handler, stop motors and disable the motor driver</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.stop();</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.disableOutputs();</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.stop();</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.disableOutputs();</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> != <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a>) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            <span class="comment">// Reset error according to error value</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a>;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    }</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">  154</a></span>&#160;<span class="keyword">enum</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> <a class="code" href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">homing</a>(int32_t seek_az, int32_t seek_el) {</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">bool</span> isHome_az = <span class="keyword">false</span>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">bool</span> isHome_el = <span class="keyword">false</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">// Move motors to &quot;seek&quot; position</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.moveTo(seek_az);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.moveTo(seek_el);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// Homing loop</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">while</span> (isHome_az == <span class="keyword">false</span> || isHome_el == <span class="keyword">false</span>) {</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="comment">// Update WDT</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>();</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>() == <span class="keyword">true</span> &amp;&amp; !isHome_az) {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            <span class="comment">// Find azimuth home</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.moveTo(<a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.currentPosition());</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            isHome_az = <span class="keyword">true</span>;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        }</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a>.<a class="code" href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">get_state</a>() == <span class="keyword">true</span> &amp;&amp; !isHome_el) {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            <span class="comment">// Find elevation home</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.moveTo(<a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.currentPosition());</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            isHome_el = <span class="keyword">true</span>;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        }</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="comment">// Check if the rotator goes 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class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="comment">// Move motors to &quot;seek&quot; position</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.run();</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.run();</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// Delay to Deccelerate and homing, to complete the movements</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    uint32_t time = millis();</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">while</span> (millis() - time &lt; <a class="code" href="stepper__motor__controller_8ino.html#acf4a8c328d7d16e349494adf938d575c">HOME_DELAY</a>) {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a>.<a class="code" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>();</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.run();</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.run();</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">// Set the home position and reset all critical control variables</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a>.setCurrentPosition(0);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <a class="code" href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a>.setCurrentPosition(0);</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = 0;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = 0;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a>;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">  211</a></span>&#160;int32_t <a class="code" href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a>(<span class="keywordtype">float</span> deg) {</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">return</span> (<a class="code" href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">RATIO</a> * <a class="code" href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">SPR</a> * deg / 360);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">  224</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">step2deg</a>(int32_t step) {</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">return</span> (360.00 * step / (<a class="code" href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">SPR</a> * <a class="code" href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">RATIO</a>));</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div><div class="ttc" id="rotator__pins_8h_html_ad98a4599f8bbf48bb5b425ce5edb5a42"><div class="ttname"><a href="rotator__pins_8h.html#ad98a4599f8bbf48bb5b425ce5edb5a42">SW1</a></div><div class="ttdeci">#define SW1</div><div class="ttdoc">Digital input, to read the status of end-stop for motor 1. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00025">rotator_pins.h:25</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a43731445552d0e8cea4cbc7c75ba56cb"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a43731445552d0e8cea4cbc7c75ba56cb">comm</a></div><div class="ttdeci">easycomm comm</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00049">stepper_motor_controller.ino:49</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_ad43a98121cb04032302978a3319ba24e"><div class="ttname"><a href="rotator__pins_8h.html#ad43a98121cb04032302978a3319ba24e">M2IN1</a></div><div class="ttdeci">#define M2IN1</div><div class="ttdoc">Motor 2 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00018">rotator_pins.h:18</a></div></div>
+<div class="ttc" id="struct__control_html_adc122b9fd1dc7cb0b859405b0bc6ad1a"><div class="ttname"><a href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">_control::input</a></div><div class="ttdeci">double input</div><div class="ttdoc">Motor Position feedback in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00030">globals.h:30</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a1f7e92e76bed5849fc1edc2e42c995dc"><div class="ttname"><a href="rotator__pins_8h.html#a1f7e92e76bed5849fc1edc2e42c995dc">M2IN2</a></div><div class="ttdeci">#define M2IN2</div><div class="ttdoc">Motor 2 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00019">rotator_pins.h:19</a></div></div>
+<div class="ttc" id="classwdt__timer_html"><div class="ttname"><a href="classwdt__timer.html">wdt_timer</a></div><div class="ttdoc">Class that functions for interacting with a watchdog timer. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00023">watchdog.h:23</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_afe461d27b9c48d5921c00d521181f12f"><div class="ttname"><a href="stepper__motor__controller_8ino.html#afe461d27b9c48d5921c00d521181f12f">loop</a></div><div class="ttdeci">void loop()</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00084">stepper_motor_controller.ino:84</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501a0e9a37114c0e458d28d52f06ec0f2242">idle</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad975d8e65ab97856d5861bd3065e4f67">pointing</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a4fc01d736fe50cf5b977f755b675f11d"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a4fc01d736fe50cf5b977f755b675f11d">setup</a></div><div class="ttdeci">void setup()</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00059">stepper_motor_controller.ino:59</a></div></div>
+<div class="ttc" id="classeasycomm_html_a68c229f5c44074fae9992ec9ea605046"><div class="ttname"><a href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm::easycomm_proc</a></div><div class="ttdeci">void easycomm_proc()</div><div class="ttdoc">Get the commands from RS485 and response to the client. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00048">easycomm.h:48</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a30b8dc781a6fe8ee7745feac552cb858"><div class="ttname"><a href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a></div><div class="ttdeci">#define MOTOR_EN</div><div class="ttdoc">Digital output, to enable the motors. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00023">rotator_pins.h:23</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_ad95c8286fc30ece77d632ad00a94d80e"><div class="ttname"><a href="stepper__motor__controller_8ino.html#ad95c8286fc30ece77d632ad00a94d80e">MIN_PULSE_WIDTH</a></div><div class="ttdeci">#define MIN_PULSE_WIDTH</div><div class="ttdoc">In microsecond for AccelStepper. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00028">stepper_motor_controller.ino:28</a></div></div>
+<div class="ttc" id="struct__control_html_a1d9d72c3f267607ad077052f215cbcd5"><div class="ttname"><a href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">_control::setpoint</a></div><div class="ttdeci">double setpoint</div><div class="ttdoc">Position set point in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00033">globals.h:33</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a989afa0bbcee20968a0c01cb53bf3159"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a989afa0bbcee20968a0c01cb53bf3159">deg2step</a></div><div class="ttdeci">int32_t deg2step(float deg)</div><div class="ttdoc">Convert degrees to steps according to step/revolution, rotator gear box ratio and microstep...</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00211">stepper_motor_controller.ino:211</a></div></div>
+<div class="ttc" id="classendstop_html_a6d24d7ed95ded92431288da42a6aebf9"><div class="ttname"><a href="classendstop.html#a6d24d7ed95ded92431288da42a6aebf9">endstop::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialize the Input pin for end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00035">endstop.h:35</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a0c0a9fc59fead4da5429a12a827f6e92"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a0c0a9fc59fead4da5429a12a827f6e92">switch_az</a></div><div class="ttdeci">endstop switch_az(SW1, DEFAULT_HOME_STATE)</div></div>
+<div class="ttc" id="struct__rotator_html_a5626b9e27ffdef0f5f8851ebb5a27812"><div class="ttname"><a href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator::switch_az</a></div><div class="ttdeci">bool switch_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a1f1efebf2c41e3bef0fef1862bf5f0c4">no_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="globals_8h_html_a87c5a684fccc0f0ed68486d54ffbda77"><div class="ttname"><a href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a></div><div class="ttdeci">_control control_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00051">globals.h:51</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_ab758c64f84e0623e98a61e37b9bdd2b7"><div class="ttname"><a href="stepper__motor__controller_8ino.html#ab758c64f84e0623e98a61e37b9bdd2b7">t_run</a></div><div class="ttdeci">uint32_t t_run</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00048">stepper_motor_controller.ino:48</a></div></div>
+<div class="ttc" id="globals_8h_html_addd34cf12b8ad4e4eb65097b7c950dc4"><div class="ttname"><a href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></div><div class="ttdeci">_rotator rotator</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00057">globals.h:57</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a0886ffe9fa915cc70ac3ed7e528145d9"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a0886ffe9fa915cc70ac3ed7e528145d9">switch_el</a></div><div class="ttdeci">endstop switch_el(SW2, DEFAULT_HOME_STATE)</div></div>
+<div class="ttc" id="classendstop_html"><div class="ttname"><a href="classendstop.html">endstop</a></div><div class="ttdoc">Class that functions for interacting with end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00022">endstop.h:22</a></div></div>
+<div class="ttc" id="struct__rotator_html_ad7f5a96e0a6675c3471670c927bbae49"><div class="ttname"><a href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator::rotator_status</a></div><div class="ttdeci">enum _rotator_status rotator_status</div><div class="ttdoc">Rotator status. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00041">globals.h:41</a></div></div>
+<div class="ttc" id="struct__rotator_html_a169bb52a1b00c2506bf7979aae6bab12"><div class="ttname"><a href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator::rotator_error</a></div><div class="ttdeci">enum _rotator_error rotator_error</div><div class="ttdoc">Rotator error. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00042">globals.h:42</a></div></div>
+<div class="ttc" id="struct__rotator_html_a88068d1cd476b7a52bbc400c77e81d9a"><div class="ttname"><a href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator::switch_el</a></div><div class="ttdeci">bool switch_el</div><div class="ttdoc">End-stop vales. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_afe48c9319f61788ed4622597bdaf17ab"><div class="ttname"><a href="stepper__motor__controller_8ino.html#afe48c9319f61788ed4622597bdaf17ab">homing</a></div><div class="ttdeci">enum _rotator_error homing(int32_t seek_az, int32_t seek_el)</div><div class="ttdoc">Move both axis with one direction in order to find home position, end-stop switches. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00154">stepper_motor_controller.ino:154</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_ac2cd96d53dd3ba6407db6766c3d92b26"><div class="ttname"><a href="stepper__motor__controller_8ino.html#ac2cd96d53dd3ba6407db6766c3d92b26">MAX_SPEED</a></div><div class="ttdeci">#define MAX_SPEED</div><div class="ttdoc">In steps/s, consider the microstep. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00029">stepper_motor_controller.ino:29</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_aa9fdf484ccfc3264b1505135c801aadc"><div class="ttname"><a href="stepper__motor__controller_8ino.html#aa9fdf484ccfc3264b1505135c801aadc">DEFAULT_HOME_STATE</a></div><div class="ttdeci">#define DEFAULT_HOME_STATE</div><div class="ttdoc">Change to LOW according to Home sensor. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00036">stepper_motor_controller.ino:36</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a83cf4d6b86174dccaf2a83810b4f83b6">homing_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00021">globals.h:21</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a52eb32b92f0d0d1fdfc59a83e22d389d"><div class="ttname"><a href="rotator__pins_8h.html#a52eb32b92f0d0d1fdfc59a83e22d389d">M1IN1</a></div><div class="ttdeci">#define M1IN1</div><div class="ttdoc">Motor 1 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00013">rotator_pins.h:13</a></div></div>
+<div class="ttc" id="classwdt__timer_html_a1be743743ff4d19d726a45c2d49fbada"><div class="ttname"><a href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">wdt_timer::watchdog_reset</a></div><div class="ttdeci">void watchdog_reset()</div><div class="ttdoc">Reset the watchdog timer. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00045">watchdog.h:45</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_ac9a4325f61d2c3b2f45582cc3234df41"><div class="ttname"><a href="stepper__motor__controller_8ino.html#ac9a4325f61d2c3b2f45582cc3234df41">stepper_az</a></div><div class="ttdeci">AccelStepper stepper_az(1, M1IN1, M1IN2)</div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a7e8b3c8482e593df0ace933ad3de22ee"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a7e8b3c8482e593df0ace933ad3de22ee">RATIO</a></div><div class="ttdeci">#define RATIO</div><div class="ttdoc">Gear ratio of rotator gear box. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00026">stepper_motor_controller.ino:26</a></div></div>
+<div class="ttc" id="classeasycomm_html_a7db30a0f3a754dc281cbedab461d76f6"><div class="ttname"><a href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm::easycomm_init</a></div><div class="ttdeci">void easycomm_init()</div><div class="ttdoc">Initialize the RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00039">easycomm.h:39</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a157fe9dc9b50d6f912b57b3422848700"><div class="ttname"><a href="rotator__pins_8h.html#a157fe9dc9b50d6f912b57b3422848700">M1IN2</a></div><div class="ttdeci">#define M1IN2</div><div class="ttdoc">Motor 1 PWM pin. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00014">rotator_pins.h:14</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_ac81f1607c784261cee0a9759a35f18ff"><div class="ttname"><a href="stepper__motor__controller_8ino.html#ac81f1607c784261cee0a9759a35f18ff">MAX_M1_ANGLE</a></div><div class="ttdeci">#define MAX_M1_ANGLE</div><div class="ttdoc">Maximum angle of azimuth. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00033">stepper_motor_controller.ino:33</a></div></div>
+<div class="ttc" id="struct__rotator_html_adf96afc711bf7075748f043b1b656311"><div class="ttname"><a href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">_rotator::homing_flag</a></div><div class="ttdeci">bool homing_flag</div><div class="ttdoc">Homing flag. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00044">globals.h:44</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_ae50506f007819f8841a2ead6e8ddb509"><div class="ttname"><a href="stepper__motor__controller_8ino.html#ae50506f007819f8841a2ead6e8ddb509">stepper_el</a></div><div class="ttdeci">AccelStepper stepper_el(1, M2IN1, M2IN2)</div></div>
+<div class="ttc" id="classwdt__timer_html_a4463b57c8af9b89797cb222c745c0355"><div class="ttname"><a href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">wdt_timer::watchdog_init</a></div><div class="ttdeci">void watchdog_init()</div><div class="ttdoc">Initialize watchdog timer to 2sec time out and to set up interrupt routine. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00032">watchdog.h:32</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a8d74466a27b92f353f6e74a079bb228d"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a8d74466a27b92f353f6e74a079bb228d">step2deg</a></div><div class="ttdeci">float step2deg(int32_t step)</div><div class="ttdoc">Convert steps to degrees according to step/revolution, rotator gear box ratio and microstep...</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00224">stepper_motor_controller.ino:224</a></div></div>
+<div class="ttc" id="struct__rotator_html_a86308cdfcd35e4a153476bf09869a981"><div class="ttname"><a href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">_rotator::control_mode</a></div><div class="ttdeci">enum _control_mode control_mode</div><div class="ttdoc">Control mode. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00043">globals.h:43</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a276a7c4ba0f813d53715e2ec2595d906"><div class="ttname"><a href="rotator__pins_8h.html#a276a7c4ba0f813d53715e2ec2595d906">SW2</a></div><div class="ttdeci">#define SW2</div><div class="ttdoc">Digital input, to read the status of end-stop for motor 2. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00026">rotator_pins.h:26</a></div></div>
+<div class="ttc" id="classeasycomm_html"><div class="ttname"><a href="classeasycomm.html">easycomm</a></div><div class="ttdoc">Class that functions for easycomm 3 implementation. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00031">easycomm.h:31</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_acaea33d85a46b9afdd404f6a45da8470"><div class="ttname"><a href="stepper__motor__controller_8ino.html#acaea33d85a46b9afdd404f6a45da8470">MAX_M2_ANGLE</a></div><div class="ttdeci">#define MAX_M2_ANGLE</div><div class="ttdoc">Maximum angle of elevation. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00035">stepper_motor_controller.ino:35</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_a58daa60c7e280af9449f3cc46097652b"><div class="ttname"><a href="stepper__motor__controller_8ino.html#a58daa60c7e280af9449f3cc46097652b">MAX_ACCELERATION</a></div><div class="ttdeci">#define MAX_ACCELERATION</div><div class="ttdoc">In steps/s^2, consider the microstep. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00030">stepper_motor_controller.ino:30</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a></div><div class="ttdeci">_rotator_error</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00020">globals.h:20</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_aa21a88a61f63525bb1db8401772e7f70"><div class="ttname"><a href="stepper__motor__controller_8ino.html#aa21a88a61f63525bb1db8401772e7f70">wdt</a></div><div class="ttdeci">wdt_timer wdt</div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00053">stepper_motor_controller.ino:53</a></div></div>
+<div class="ttc" id="classendstop_html_a530a60aaf81bd5022e56df71c194dfbc"><div class="ttname"><a href="classendstop.html#a530a60aaf81bd5022e56df71c194dfbc">endstop::get_state</a></div><div class="ttdeci">bool get_state()</div><div class="ttdoc">Get the state of end-stop. </div><div class="ttdef"><b>Definition:</b> <a href="endstop_8h_source.html#l00045">endstop.h:45</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_acf4a8c328d7d16e349494adf938d575c"><div class="ttname"><a href="stepper__motor__controller_8ino.html#acf4a8c328d7d16e349494adf938d575c">HOME_DELAY</a></div><div class="ttdeci">#define HOME_DELAY</div><div class="ttdoc">Time for homing Deceleration in millisecond. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00037">stepper_motor_controller.ino:37</a></div></div>
+<div class="ttc" id="globals_8h_html_ade92ac8f94e642ce7708250d1235ae85"><div class="ttname"><a href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a></div><div class="ttdeci">_control control_el</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00054">globals.h:54</a></div></div>
+<div class="ttc" id="stepper__motor__controller_8ino_html_abc0e9de1ad11261774993fbad495209e"><div class="ttname"><a href="stepper__motor__controller_8ino.html#abc0e9de1ad11261774993fbad495209e">SPR</a></div><div class="ttdeci">#define SPR</div><div class="ttdoc">Step Per Revolution, consider the microstep. </div><div class="ttdef"><b>Definition:</b> <a href="stepper__motor__controller_8ino_source.html#l00031">stepper_motor_controller.ino:31</a></div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
+   </div>
+  </td>
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+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.14 -->
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+  <div class="headertitle">
+<div class="title">_control Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="struct__control.html">_control</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a></td><td class="entry"><a class="el" href="struct__control.html">_control</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a></td><td class="entry"><a class="el" href="struct__control.html">_control</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">load</a></td><td class="entry"><a class="el" href="struct__control.html">_control</a></td><td class="entry"></td></tr>
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+   <div id="projectname">satnogs-rotator-firmware
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct__control-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">_control Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="globals_8h_source.html">globals.h</a>&gt;</code></p>
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+<tr class="separator:adc122b9fd1dc7cb0b859405b0bc6ad1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a42d481daff320ecacaa999a12e4b7412"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#a42d481daff320ecacaa999a12e4b7412">input_prv</a></td></tr>
+<tr class="memdesc:a42d481daff320ecacaa999a12e4b7412"><td class="mdescLeft">&#160;</td><td class="mdescRight">T-1 Motor Position feedback in deg.  <a href="#a42d481daff320ecacaa999a12e4b7412">More...</a><br /></td></tr>
+<tr class="separator:a42d481daff320ecacaa999a12e4b7412"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac6968a0c314b5e6c1910fa2238b5e325"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1d9d72c3f267607ad077052f215cbcd5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Position set point in deg.  <a href="#a1d9d72c3f267607ad077052f215cbcd5">More...</a><br /></td></tr>
+<tr class="separator:a1d9d72c3f267607ad077052f215cbcd5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08308f27e459947c9692735b18aa2f04"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a></td></tr>
+<tr class="memdesc:a08308f27e459947c9692735b18aa2f04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Speed set point in deg/s.  <a href="#a08308f27e459947c9692735b18aa2f04">More...</a><br /></td></tr>
+<tr class="separator:a08308f27e459947c9692735b18aa2f04"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb5b4a7fd5e9aa8ada410f568a0a87b4"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">load</a></td></tr>
+<tr class="memdesc:aeb5b4a7fd5e9aa8ada410f568a0a87b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Motor Load in mA.  <a href="#aeb5b4a7fd5e9aa8ada410f568a0a87b4">More...</a><br /></td></tr>
+<tr class="separator:aeb5b4a7fd5e9aa8ada410f568a0a87b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ab9d7afcc7a10368b5045b228f0e0bd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#a4ab9d7afcc7a10368b5045b228f0e0bd">u</a></td></tr>
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+<tr class="separator:a4ab9d7afcc7a10368b5045b228f0e0bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08335ac31b691f2ed082a02d4a10961b"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a></td></tr>
+<tr class="separator:a08335ac31b691f2ed082a02d4a10961b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a97e0823512ecbf67560099811613002c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a></td></tr>
+<tr class="separator:a97e0823512ecbf67560099811613002c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba0fe925711333cc0910d439b589d175"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a></td></tr>
+<tr class="memdesc:aba0fe925711333cc0910d439b589d175"><td class="mdescLeft">&#160;</td><td class="mdescRight">Control gains.  <a href="#aba0fe925711333cc0910d439b589d175">More...</a><br /></td></tr>
+<tr class="separator:aba0fe925711333cc0910d439b589d175"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock">
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00029">29</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="aba0fe925711333cc0910d439b589d175"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba0fe925711333cc0910d439b589d175">&#9670;&nbsp;</a></span>d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::d</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Control gains. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00037">37</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="a97e0823512ecbf67560099811613002c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97e0823512ecbf67560099811613002c">&#9670;&nbsp;</a></span>i</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::i</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00037">37</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="adc122b9fd1dc7cb0b859405b0bc6ad1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc122b9fd1dc7cb0b859405b0bc6ad1a">&#9670;&nbsp;</a></span>input</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::input</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor Position feedback in deg. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00030">30</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a42d481daff320ecacaa999a12e4b7412"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42d481daff320ecacaa999a12e4b7412">&#9670;&nbsp;</a></span>input_prv</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::input_prv</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>T-1 Motor Position feedback in deg. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00031">31</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+</div>
+</div>
+<a id="aeb5b4a7fd5e9aa8ada410f568a0a87b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb5b4a7fd5e9aa8ada410f568a0a87b4">&#9670;&nbsp;</a></span>load</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t _control::load</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor Load in mA. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00035">35</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="a08335ac31b691f2ed082a02d4a10961b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08335ac31b691f2ed082a02d4a10961b">&#9670;&nbsp;</a></span>p</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::p</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00037">37</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="a1d9d72c3f267607ad077052f215cbcd5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d9d72c3f267607ad077052f215cbcd5">&#9670;&nbsp;</a></span>setpoint</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::setpoint</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Position set point in deg. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00033">33</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="stepper__motor__controller_8ino_source.html#l00154">homing()</a>, and <a class="el" href="stepper__motor__controller_8ino_source.html#l00084">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a08308f27e459947c9692735b18aa2f04"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08308f27e459947c9692735b18aa2f04">&#9670;&nbsp;</a></span>setpoint_speed</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::setpoint_speed</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Speed set point in deg/s. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00034">34</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="ac6968a0c314b5e6c1910fa2238b5e325"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6968a0c314b5e6c1910fa2238b5e325">&#9670;&nbsp;</a></span>speed</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::speed</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor Rotation speed in deg/s. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00032">32</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="a4ab9d7afcc7a10368b5045b228f0e0bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ab9d7afcc7a10368b5045b228f0e0bd">&#9670;&nbsp;</a></span>u</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _control::u</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Control signal range 0-255. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00036">36</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>libraries/<a class="el" href="globals_8h_source.html">globals.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.14
+</small></address>
+</body>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
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+  </td>
+ </tr>
+ </tbody>
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+<!-- Generated by Doxygen 1.8.14 -->
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+<div class="header">
+  <div class="headertitle">
+<div class="title">_rotator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="struct__rotator.html">_rotator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">fault_az</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">fault_el</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a></td><td class="entry"><a class="el" href="struct__rotator.html">_rotator</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+</a> 1.8.14
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>satnogs-rotator-firmware: _rotator Struct Reference</title>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">satnogs-rotator-firmware
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+ </tbody>
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+<script type="text/javascript">
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct__rotator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">_rotator Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="globals_8h_source.html">globals.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="memitem:ad7f5a96e0a6675c3471670c927bbae49"><td class="memItemLeft" align="right" valign="top">enum <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a></td></tr>
+<tr class="memdesc:ad7f5a96e0a6675c3471670c927bbae49"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotator status.  <a href="#ad7f5a96e0a6675c3471670c927bbae49">More...</a><br /></td></tr>
+<tr class="separator:ad7f5a96e0a6675c3471670c927bbae49"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a169bb52a1b00c2506bf7979aae6bab12"><td class="memItemLeft" align="right" valign="top">enum <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a></td></tr>
+<tr class="memdesc:a169bb52a1b00c2506bf7979aae6bab12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotator error.  <a href="#a169bb52a1b00c2506bf7979aae6bab12">More...</a><br /></td></tr>
+<tr class="separator:a169bb52a1b00c2506bf7979aae6bab12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86308cdfcd35e4a153476bf09869a981"><td class="memItemLeft" align="right" valign="top">enum <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33">_control_mode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a></td></tr>
+<tr class="memdesc:a86308cdfcd35e4a153476bf09869a981"><td class="mdescLeft">&#160;</td><td class="mdescRight">Control mode.  <a href="#a86308cdfcd35e4a153476bf09869a981">More...</a><br /></td></tr>
+<tr class="separator:a86308cdfcd35e4a153476bf09869a981"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf96afc711bf7075748f043b1b656311"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a></td></tr>
+<tr class="memdesc:adf96afc711bf7075748f043b1b656311"><td class="mdescLeft">&#160;</td><td class="mdescRight">Homing flag.  <a href="#adf96afc711bf7075748f043b1b656311">More...</a><br /></td></tr>
+<tr class="separator:adf96afc711bf7075748f043b1b656311"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1bfde08392f85de45463f69b77c8120d"><td class="memItemLeft" align="right" valign="top">int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a></td></tr>
+<tr class="memdesc:a1bfde08392f85de45463f69b77c8120d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inside Temperature.  <a href="#a1bfde08392f85de45463f69b77c8120d">More...</a><br /></td></tr>
+<tr class="separator:a1bfde08392f85de45463f69b77c8120d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6fce38c41558f84a92605b37c35837f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a></td></tr>
+<tr class="separator:ab6fce38c41558f84a92605b37c35837f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ad10e10ad60c7cb8d4f30986cb1384f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a></td></tr>
+<tr class="memdesc:a6ad10e10ad60c7cb8d4f30986cb1384f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Park position for both axis.  <a href="#a6ad10e10ad60c7cb8d4f30986cb1384f">More...</a><br /></td></tr>
+<tr class="separator:a6ad10e10ad60c7cb8d4f30986cb1384f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5aee46515ac7930a9ae114b9c9c01d8c"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a5aee46515ac7930a9ae114b9c9c01d8c">fault_az</a></td></tr>
+<tr class="separator:a5aee46515ac7930a9ae114b9c9c01d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2e58e190516589323db0255129cfe96"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#ac2e58e190516589323db0255129cfe96">fault_el</a></td></tr>
+<tr class="memdesc:ac2e58e190516589323db0255129cfe96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Motor drivers fault flag.  <a href="#ac2e58e190516589323db0255129cfe96">More...</a><br /></td></tr>
+<tr class="separator:ac2e58e190516589323db0255129cfe96"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5626b9e27ffdef0f5f8851ebb5a27812"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a></td></tr>
+<tr class="separator:a5626b9e27ffdef0f5f8851ebb5a27812"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88068d1cd476b7a52bbc400c77e81d9a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a></td></tr>
+<tr class="memdesc:a88068d1cd476b7a52bbc400c77e81d9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">End-stop vales.  <a href="#a88068d1cd476b7a52bbc400c77e81d9a">More...</a><br /></td></tr>
+<tr class="separator:a88068d1cd476b7a52bbc400c77e81d9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock">
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00040">40</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a86308cdfcd35e4a153476bf09869a981"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86308cdfcd35e4a153476bf09869a981">&#9670;&nbsp;</a></span>control_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33">_control_mode</a> _rotator::control_mode</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Control mode. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00043">43</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a5aee46515ac7930a9ae114b9c9c01d8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5aee46515ac7930a9ae114b9c9c01d8c">&#9670;&nbsp;</a></span>fault_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t _rotator::fault_az</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00047">47</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="ac2e58e190516589323db0255129cfe96"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2e58e190516589323db0255129cfe96">&#9670;&nbsp;</a></span>fault_el</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t _rotator::fault_el</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motor drivers fault flag. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00047">47</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="adf96afc711bf7075748f043b1b656311"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf96afc711bf7075748f043b1b656311">&#9670;&nbsp;</a></span>homing_flag</h2>
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+<div class="memproto">
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+        <tr>
+          <td class="memname">bool _rotator::homing_flag</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Homing flag. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00044">44</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="a1bfde08392f85de45463f69b77c8120d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1bfde08392f85de45463f69b77c8120d">&#9670;&nbsp;</a></span>inside_temperature</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int8_t _rotator::inside_temperature</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Inside Temperature. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00045">45</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
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+</div>
+</div>
+<a id="ab6fce38c41558f84a92605b37c35837f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab6fce38c41558f84a92605b37c35837f">&#9670;&nbsp;</a></span>park_az</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _rotator::park_az</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00046">46</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="a6ad10e10ad60c7cb8d4f30986cb1384f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ad10e10ad60c7cb8d4f30986cb1384f">&#9670;&nbsp;</a></span>park_el</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double _rotator::park_el</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Park position for both axis. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00046">46</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>.</p>
+
+</div>
+</div>
+<a id="a169bb52a1b00c2506bf7979aae6bab12"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a169bb52a1b00c2506bf7979aae6bab12">&#9670;&nbsp;</a></span>rotator_error</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1">_rotator_error</a> _rotator::rotator_error</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Rotator error. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00042">42</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
+<a id="ad7f5a96e0a6675c3471670c927bbae49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7f5a96e0a6675c3471670c927bbae49">&#9670;&nbsp;</a></span>rotator_status</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501">_rotator_status</a> _rotator::rotator_status</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Rotator status. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00041">41</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, <a class="el" href="watchdog_8h_source.html#l00056">ISR()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5626b9e27ffdef0f5f8851ebb5a27812">&#9670;&nbsp;</a></span>switch_az</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool _rotator::switch_az</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00048">48</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
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+<a id="a88068d1cd476b7a52bbc400c77e81d9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88068d1cd476b7a52bbc400c77e81d9a">&#9670;&nbsp;</a></span>switch_el</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool _rotator::switch_el</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>End-stop vales. </p>
+
+<p class="definition">Definition at line <a class="el" href="globals_8h_source.html#l00048">48</a> of file <a class="el" href="globals_8h_source.html">globals.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="easycomm_8h_source.html#l00048">easycomm::easycomm_proc()</a>, and <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>.</p>
+
+</div>
+</div>
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+</ul>
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+<p><a href="tc74_8h_source.html">Go to the source code of this file.</a></p>
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+<tr class="memitem:ae96d6b2a5131b4f3943d894c30fb42fb"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="tc74_8h.html#ae96d6b2a5131b4f3943d894c30fb42fb">TC74_TEMPERATURE_REGISTER</a>&#160;&#160;&#160;0x00</td></tr>
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+<tr class="memitem:ab77abc7de3ca9f3753905259d339069b"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="tc74_8h.html#ab77abc7de3ca9f3753905259d339069b">TC74_DATA_READY_FLAG</a>&#160;&#160;&#160;0x40</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for a TC74 Temperature sensor.</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="ad08dad0d1a91b91db4885beeeb645771"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad08dad0d1a91b91db4885beeeb645771">&#9670;&nbsp;</a></span>TC74_AWAKE_COMMAND</h2>
+
+<div class="memitem">
+<div class="memproto">
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+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00018">18</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="tc74_8h_source.html#l00075">tc74::get_status()</a>, and <a class="el" href="tc74_8h_source.html#l00094">tc74::wake_up()</a>.</p>
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+          <td class="memname">#define TC74_CONFIGURATION_REGISTER&#160;&#160;&#160;0x01</td>
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+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00016">16</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="tc74_8h_source.html#l00075">tc74::get_status()</a>, <a class="el" href="tc74_8h_source.html#l00110">tc74::sleep()</a>, and <a class="el" href="tc74_8h_source.html#l00094">tc74::wake_up()</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab77abc7de3ca9f3753905259d339069b">&#9670;&nbsp;</a></span>TC74_DATA_READY_FLAG</h2>
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+        </tr>
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+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00019">19</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TC74_STANDBY_COMMAND&#160;&#160;&#160;0x80</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00017">17</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="tc74_8h_source.html#l00110">tc74::sleep()</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae96d6b2a5131b4f3943d894c30fb42fb">&#9670;&nbsp;</a></span>TC74_TEMPERATURE_REGISTER</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TC74_TEMPERATURE_REGISTER&#160;&#160;&#160;0x00</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="tc74_8h_source.html#l00015">15</a> of file <a class="el" href="tc74_8h_source.html">tc74.h</a>.</p>
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+<div class="title">tc74.h</div>  </div>
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+<a href="tc74_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef TC74_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define TC74_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Wire.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="tc74_8h.html#ae96d6b2a5131b4f3943d894c30fb42fb">   15</a></span>&#160;<span class="preprocessor">#define TC74_TEMPERATURE_REGISTER 0x00</span></div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="tc74_8h.html#a6ba5fdf8b49e61a58c97feb5bc35f9e3">   16</a></span>&#160;<span class="preprocessor">#define TC74_CONFIGURATION_REGISTER 0x01</span></div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="tc74_8h.html#a12e2bb5245f9bf9487853ad58c0b1011">   17</a></span>&#160;<span class="preprocessor">#define TC74_STANDBY_COMMAND 0x80</span></div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="tc74_8h.html#ad08dad0d1a91b91db4885beeeb645771">   18</a></span>&#160;<span class="preprocessor">#define TC74_AWAKE_COMMAND 0x00</span></div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="tc74_8h.html#ab77abc7de3ca9f3753905259d339069b">   19</a></span>&#160;<span class="preprocessor">#define TC74_DATA_READY_FLAG 0x40</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classtc74.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="classtc74.html">tc74</a> {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">   39</a></span>&#160;    <a class="code" href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">tc74</a>(uint8_t <span class="keywordtype">id</span>) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <a class="code" href="classtc74.html#a9aef242072cf2021850126f6931cd577">_id</a> = id;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">   48</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">init</a>() {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        Wire.begin();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        Wire.setClock(<a class="code" href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">I2C_FREQ</a>);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    }</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">   59</a></span>&#160;    int8_t <a class="code" href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">get_temp</a>() {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        Wire.beginTransmission(<a class="code" href="classtc74.html#a9aef242072cf2021850126f6931cd577">_id</a>);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        Wire.write(<a class="code" href="tc74_8h.html#ae96d6b2a5131b4f3943d894c30fb42fb">TC74_TEMPERATURE_REGISTER</a>);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        Wire.endTransmission();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        Wire.requestFrom(<a class="code" href="classtc74.html#a9aef242072cf2021850126f6931cd577">_id</a>, 1);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordflow">while</span> (Wire.available() == 0)</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; 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       <span class="keywordflow">return</span> <a class="code" href="classtc74.html#a91d194f87d6153a0556ab5fd857e66ee">get_status</a>();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classtc74.html#a9aef242072cf2021850126f6931cd577">  121</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classtc74.html#a9aef242072cf2021850126f6931cd577">_id</a>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;};</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* TC74_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classtc74_html_a91d194f87d6153a0556ab5fd857e66ee"><div class="ttname"><a href="classtc74.html#a91d194f87d6153a0556ab5fd857e66ee">tc74::get_status</a></div><div class="ttdeci">int8_t get_status()</div><div class="ttdoc">Reads the int8_t in status register. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00075">tc74.h:75</a></div></div>
+<div class="ttc" id="classtc74_html_a9e9df64f45929efc9b56b4668269ffbe"><div class="ttname"><a href="classtc74.html#a9e9df64f45929efc9b56b4668269ffbe">tc74::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialize the I2C bus. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00048">tc74.h:48</a></div></div>
+<div class="ttc" id="classtc74_html_a5304cfec3e2fd0955db133ae0892c734"><div class="ttname"><a href="classtc74.html#a5304cfec3e2fd0955db133ae0892c734">tc74::sleep</a></div><div class="ttdeci">int8_t sleep()</div><div class="ttdoc">Sleep device request to the sensor on the specified address. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00110">tc74.h:110</a></div></div>
+<div class="ttc" id="tc74_8h_html_a12e2bb5245f9bf9487853ad58c0b1011"><div class="ttname"><a href="tc74_8h.html#a12e2bb5245f9bf9487853ad58c0b1011">TC74_STANDBY_COMMAND</a></div><div class="ttdeci">#define TC74_STANDBY_COMMAND</div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00017">tc74.h:17</a></div></div>
+<div class="ttc" id="classtc74_html_a9aef242072cf2021850126f6931cd577"><div class="ttname"><a href="classtc74.html#a9aef242072cf2021850126f6931cd577">tc74::_id</a></div><div class="ttdeci">int _id</div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00121">tc74.h:121</a></div></div>
+<div class="ttc" id="classtc74_html"><div class="ttname"><a href="classtc74.html">tc74</a></div><div class="ttdoc">Class that functions for interacting with a TC74 Temperature sensor. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00036">tc74.h:36</a></div></div>
+<div class="ttc" id="as5601_8h_html_a8b7500a141450a9df212017430c0df9e"><div class="ttname"><a href="as5601_8h.html#a8b7500a141450a9df212017430c0df9e">I2C_FREQ</a></div><div class="ttdeci">#define I2C_FREQ</div><div class="ttdef"><b>Definition:</b> <a href="as5601_8h_source.html#l00017">as5601.h:17</a></div></div>
+<div class="ttc" id="classtc74_html_a9e10af3dbd52592f902f81885dc166d2"><div class="ttname"><a href="classtc74.html#a9e10af3dbd52592f902f81885dc166d2">tc74::wake_up</a></div><div class="ttdeci">int8_t wake_up()</div><div class="ttdoc">Wake up request to the sensor on the specified address. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00094">tc74.h:94</a></div></div>
+<div class="ttc" id="tc74_8h_html_a6ba5fdf8b49e61a58c97feb5bc35f9e3"><div class="ttname"><a href="tc74_8h.html#a6ba5fdf8b49e61a58c97feb5bc35f9e3">TC74_CONFIGURATION_REGISTER</a></div><div class="ttdeci">#define TC74_CONFIGURATION_REGISTER</div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00016">tc74.h:16</a></div></div>
+<div class="ttc" id="classtc74_html_a0adb7370c49b3f39787270357a07d12c"><div class="ttname"><a href="classtc74.html#a0adb7370c49b3f39787270357a07d12c">tc74::tc74</a></div><div class="ttdeci">tc74(uint8_t id)</div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00039">tc74.h:39</a></div></div>
+<div class="ttc" id="classtc74_html_a5e923d126027ab1e7102b4a203698eb3"><div class="ttname"><a href="classtc74.html#a5e923d126027ab1e7102b4a203698eb3">tc74::get_temp</a></div><div class="ttdeci">int8_t get_temp()</div><div class="ttdoc">Reads the int8_t in temperature measurement register. </div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00059">tc74.h:59</a></div></div>
+<div class="ttc" id="tc74_8h_html_ae96d6b2a5131b4f3943d894c30fb42fb"><div class="ttname"><a href="tc74_8h.html#ae96d6b2a5131b4f3943d894c30fb42fb">TC74_TEMPERATURE_REGISTER</a></div><div class="ttdeci">#define TC74_TEMPERATURE_REGISTER</div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00015">tc74.h:15</a></div></div>
+<div class="ttc" id="tc74_8h_html_ad08dad0d1a91b91db4885beeeb645771"><div class="ttname"><a href="tc74_8h.html#ad08dad0d1a91b91db4885beeeb645771">TC74_AWAKE_COMMAND</a></div><div class="ttdeci">#define TC74_AWAKE_COMMAND</div><div class="ttdef"><b>Definition:</b> <a href="tc74_8h_source.html#l00018">tc74.h:18</a></div></div>
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+<a href="twi_8c_8d.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;build-satnogs/platformlibs/Wire/src/utility/twi.c.o: \</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/libraries/Wire/src/utility/twi.c \</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/cores/arduino/Arduino.h \</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/cores/arduino/binary.h \</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/variants/eightanaloginputs/pins_arduino.h \</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/variants/eightanaloginputs/../standard/pins_arduino.h \</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; /home/azisi/opt/arduino-1.8.5/hardware/arduino/avr/libraries/Wire/src/utility/twi.h</div></div><!-- fragment --></div><!-- contents -->
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">watchdog.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;avr/wdt.h&gt;</code><br />
+<code>#include &quot;<a class="el" href="globals_8h_source.html">globals.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="easycomm_8h_source.html">easycomm.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="rotator__pins_8h_source.html">rotator_pins.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for watchdog.h:</div>
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+<p><a href="watchdog_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classwdt__timer.html">wdt_timer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class that functions for interacting with a watchdog timer.  <a href="classwdt__timer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a43905d6fb5c4d433a49f527fa6ab811f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="watchdog_8h.html#a43905d6fb5c4d433a49f527fa6ab811f">ISR</a> (WDT_vect)</td></tr>
+<tr class="memdesc:a43905d6fb5c4d433a49f527fa6ab811f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Watchdog timer interrupt routine that implements a minimal easycomm protocol to get the errors and reset the uC.  <a href="#a43905d6fb5c4d433a49f527fa6ab811f">More...</a><br /></td></tr>
+<tr class="separator:a43905d6fb5c4d433a49f527fa6ab811f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>It is a driver for watchdog timer.</p>
+<p>Licensed under the GPLv3 </p>
+
+<p class="definition">Definition in file <a class="el" href="watchdog_8h_source.html">watchdog.h</a>.</p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a43905d6fb5c4d433a49f527fa6ab811f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43905d6fb5c4d433a49f527fa6ab811f">&#9670;&nbsp;</a></span>ISR()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ISR </td>
+          <td>(</td>
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+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
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+
+<p>Watchdog timer interrupt routine that implements a minimal easycomm protocol to get the errors and reset the uC. </p>
+
+<p class="definition">Definition at line <a class="el" href="watchdog_8h_source.html#l00056">56</a> of file <a class="el" href="watchdog_8h_source.html">watchdog.h</a>.</p>
+
+<p class="reference">References <a class="el" href="rs485_8h_source.html#l00073">rs485::available()</a>, <a class="el" href="easycomm_8h_source.html#l00021">BUFFER_SIZE</a>, <a class="el" href="globals_8h_source.html#l00017">error</a>, <a class="el" href="rs485_8h_source.html#l00082">rs485::flush()</a>, <a class="el" href="rotator__pins_8h_source.html#l00023">MOTOR_EN</a>, <a class="el" href="rs485_8h_source.html#l00050">rs485::print()</a>, <a class="el" href="rs485_8h_source.html#l00063">rs485::read()</a>, <a class="el" href="globals_8h_source.html#l00057">rotator</a>, <a class="el" href="globals_8h_source.html#l00042">_rotator::rotator_error</a>, <a class="el" href="globals_8h_source.html#l00041">_rotator::rotator_status</a>, and <a class="el" href="globals_8h_source.html#l00022">wdt_error</a>.</p>
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+</div><!--header-->
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+<a href="watchdog_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef WATCHDOG_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define WATCHDOG_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;avr/wdt.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="easycomm_8h.html">easycomm.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rotator__pins_8h.html">rotator_pins.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classwdt__timer.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="classwdt__timer.html">wdt_timer</a>{</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">   32</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">watchdog_init</a>() {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        cli();</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        wdt_reset();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        WDTCSR |= _BV(WDCE) | _BV(WDE);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        WDTCSR = _BV(WDIE) | _BV(WDE) | _BV(WDP3) | _BV(WDP2) | _BV(WDP1);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        sei();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">   45</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">watchdog_reset</a>() {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        wdt_reset();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    }</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;};</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="watchdog_8h.html#a43905d6fb5c4d433a49f527fa6ab811f">   56</a></span>&#160;<a class="code" href="watchdog_8h.html#a43905d6fb5c4d433a49f527fa6ab811f">ISR</a>(WDT_vect) {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">// Disable motors</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    digitalWrite(<a class="code" href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a>, LOW);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="comment">// Set error</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a> = <a class="code" href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb">wdt_error</a>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a> = <a class="code" href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// Enable interrupts for serial communication</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    sei();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">while</span> (1) {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="comment">// Reset the watchdog timer because the interrupts are enabled</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        wdt_reset();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="comment">// Implement a minimal easycomm protocol to get the errors and reset uC</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordtype">char</span> buffer[<a class="code" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a>];</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordtype">char</span> incomingByte;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">static</span> uint16_t BufferCnt = 0;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        String str1, str2, str3, str4, str5, str6;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordflow">while</span> (<a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">available</a>() &gt; 0) {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            incomingByte = <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">read</a>();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            <span class="keywordflow">if</span> (incomingByte == <span class="charliteral">&#39;\n&#39;</span>) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                buffer[BufferCnt] = 0;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;G&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;S&#39;</span>) {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                    str1 = String(<span class="stringliteral">&quot;GS&quot;</span>);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a>, DEC);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;G&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;E&#39;</span>) {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                    str1 = String(<span class="stringliteral">&quot;GE&quot;</span>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                    str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a>, DEC);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                    str3 = String(<span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                    <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">&#39;R&#39;</span> &amp;&amp; buffer[1] == <span class="charliteral">&#39;B&#39;</span>) {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                    <span class="keywordflow">while</span>(1);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                BufferCnt = 0;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">flush</a>();</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                buffer[BufferCnt] = incomingByte;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                BufferCnt++;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="comment">// Reset the watchdog timer</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        wdt_reset();</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* WATCHDOG_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classwdt__timer_html"><div class="ttname"><a href="classwdt__timer.html">wdt_timer</a></div><div class="ttdoc">Class that functions for interacting with a watchdog timer. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00023">watchdog.h:23</a></div></div>
+<div class="ttc" id="watchdog_8h_html_a43905d6fb5c4d433a49f527fa6ab811f"><div class="ttname"><a href="watchdog_8h.html#a43905d6fb5c4d433a49f527fa6ab811f">ISR</a></div><div class="ttdeci">ISR(WDT_vect)</div><div class="ttdoc">Watchdog timer interrupt routine that implements a minimal easycomm protocol to get the errors and re...</div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00056">watchdog.h:56</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html_a30b8dc781a6fe8ee7745feac552cb858"><div class="ttname"><a href="rotator__pins_8h.html#a30b8dc781a6fe8ee7745feac552cb858">MOTOR_EN</a></div><div class="ttdeci">#define MOTOR_EN</div><div class="ttdoc">Digital output, to enable the motors. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00023">rotator_pins.h:23</a></div></div>
+<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div></div>
+<div class="ttc" id="globals_8h_html_addd34cf12b8ad4e4eb65097b7c950dc4"><div class="ttname"><a href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></div><div class="ttdeci">_rotator rotator</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00057">globals.h:57</a></div></div>
+<div class="ttc" id="struct__rotator_html_ad7f5a96e0a6675c3471670c927bbae49"><div class="ttname"><a href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator::rotator_status</a></div><div class="ttdeci">enum _rotator_status rotator_status</div><div class="ttdoc">Rotator status. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00041">globals.h:41</a></div></div>
+<div class="ttc" id="struct__rotator_html_a169bb52a1b00c2506bf7979aae6bab12"><div class="ttname"><a href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator::rotator_error</a></div><div class="ttdeci">enum _rotator_error rotator_error</div><div class="ttdoc">Rotator error. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00042">globals.h:42</a></div></div>
+<div class="ttc" id="classrs485_html_a204229ca0c3ee5d24d4c5eac9a543ef7"><div class="ttname"><a href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">rs485::available</a></div><div class="ttdeci">uint8_t available(void)</div><div class="ttdoc">The number of chars/uint8_t that are available in RS485 buffer. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00073">rs485.h:73</a></div></div>
+<div class="ttc" id="classwdt__timer_html_a1be743743ff4d19d726a45c2d49fbada"><div class="ttname"><a href="classwdt__timer.html#a1be743743ff4d19d726a45c2d49fbada">wdt_timer::watchdog_reset</a></div><div class="ttdeci">void watchdog_reset()</div><div class="ttdoc">Reset the watchdog timer. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00045">watchdog.h:45</a></div></div>
+<div class="ttc" id="classrs485_html_ac549517006a6b2cff970e3390ccd2c45"><div class="ttname"><a href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">rs485::read</a></div><div class="ttdeci">uint8_t read()</div><div class="ttdoc">Read a char/uint8_t from RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00063">rs485.h:63</a></div></div>
+<div class="ttc" id="classwdt__timer_html_a4463b57c8af9b89797cb222c745c0355"><div class="ttname"><a href="classwdt__timer.html#a4463b57c8af9b89797cb222c745c0355">wdt_timer::watchdog_init</a></div><div class="ttdeci">void watchdog_init()</div><div class="ttdoc">Initialize watchdog timer to 2sec time out and to set up interrupt routine. </div><div class="ttdef"><b>Definition:</b> <a href="watchdog_8h_source.html#l00032">watchdog.h:32</a></div></div>
+<div class="ttc" id="globals_8h_html_a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb"><div class="ttname"><a href="globals_8h.html#a455fc53a09c638322a14f309a295e7f1a33b2cd89605d2c298f0f1b447eb794fb">wdt_error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00022">globals.h:22</a></div></div>
+<div class="ttc" id="rotator__pins_8h_html"><div class="ttname"><a href="rotator__pins_8h.html">rotator_pins.h</a></div></div>
+<div class="ttc" id="classrs485_html_af02e2635ac5bb688bc9f05895a983704"><div class="ttname"><a href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">rs485::flush</a></div><div class="ttdeci">void flush()</div><div class="ttdoc">Waits for the transmission of outgoing serial data to complete. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00082">rs485.h:82</a></div></div>
+<div class="ttc" id="classrs485_html_acffe305907c9de94dda20135bc6ad93a"><div class="ttname"><a href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">rs485::print</a></div><div class="ttdeci">void print(String str)</div><div class="ttdoc">Print a string to RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00050">rs485.h:50</a></div></div>
+<div class="ttc" id="classrs485_html"><div class="ttname"><a href="classrs485.html">rs485</a></div><div class="ttdoc">Class that functions for interacting with a RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00023">rs485.h:23</a></div></div>
+<div class="ttc" id="globals_8h_html_ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed"><div class="ttname"><a href="globals_8h.html#ae09bc16eee2b545dd6a98d700c3e3501ad606e435413ea0944dd00d49e901e4ed">error</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00017">globals.h:17</a></div></div>
+<div class="ttc" id="easycomm_8h_html"><div class="ttname"><a href="easycomm_8h.html">easycomm.h</a></div></div>
+<div class="ttc" id="easycomm_8h_html_a6b20d41d6252e9871430c242cb1a56e7"><div class="ttname"><a href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a></div><div class="ttdeci">#define BUFFER_SIZE</div><div class="ttdoc">Set the size of serial buffer. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00021">easycomm.h:21</a></div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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