From 3e40c290f7fa20377c38518f3945e7b0a823fe94 Mon Sep 17 00:00:00 2001
From: Agis Zisimatos <azisi@windowslive.com>
Date: Tue, 11 Nov 2014 21:14:11 +0200
Subject: [PATCH] Add new homing function.
---
Arduino/SatNOGS.ino | 33 +++++++++++++++++++++------------
1 file changed, 21 insertions(+), 12 deletions(-)
diff --git a/Arduino/SatNOGS.ino b/Arduino/SatNOGS.ino
index 91e99ca..40b2d51 100644
--- a/Arduino/SatNOGS.ino
+++ b/Arduino/SatNOGS.ino
@@ -13,7 +13,7 @@
#define SPR 200 //Step Per Revolution
#define RATIO 60 //Gear ratio
-#define T_DELAY 20000 //Time to disable the motors in millisecond
+#define T_DELAY 60000 //Time to disable the motors in millisecond
#define HOME_AZ 4 //Homing switch for Azimuth
#define HOME_EL 5 //Homing switch for Elevation
@@ -53,9 +53,10 @@ void setup()
/*Serial Communication*/
Serial.begin(19200);
/*Initial Homing*/
- Initial_Homing();
+ Homing(deg2step(-ANGLE_SCANNING_MULT), deg2step(-ANGLE_SCANNING_MULT));
}
+/*Homing Function*/
void loop()
{
/*Define the steps*/
@@ -65,10 +66,12 @@ void loop()
/*Time Check*/
if (t_DIS == 0)
t_DIS = millis();
-
+
/*Disable Motors*/
if (AZstep == AZstepper.currentPosition() && ELstep == ELstepper.currentPosition() && millis()-t_DIS > T_DELAY)
+ {
digitalWrite(EN, HIGH);
+ }
/*Enable Motors*/
else
digitalWrite(EN, LOW);
@@ -79,14 +82,12 @@ void loop()
stepper_move(AZstep, ELstep);
}
-void Initial_Homing()
+void Homing(int AZsteps, int ELsteps)
{
int value_Home_AZ = HIGH;
int value_Home_EL = HIGH;
int n_AZ = 1; //Times that AZ angle has changed
int n_EL = 1; //Times that EL angle has changed
- int AZsteps = deg2step(-n_AZ*ANGLE_SCANNING_MULT); //Initial scanning steps for AZ
- int ELsteps = deg2step(-n_EL*ANGLE_SCANNING_MULT); //Initial scanning steps for EL
boolean isHome_AZ = false;
boolean isHome_EL = false;
@@ -137,15 +138,15 @@ void Initial_Homing()
/*Delay to Deccelerate*/
long time = millis();
while(millis() - time < HOME_DELAY)
- {
+ {
AZstepper.run();
ELstepper.run();
}
/*Reset the steps*/
AZstepper.setCurrentPosition(0);
- ELstepper.setCurrentPosition(0);
+ ELstepper.setCurrentPosition(0);
}
-
+
/*EasyComm 2 Protocol & Calculate the steps*/
void cmd_proc(int &stepAz, int &stepEl)
{
@@ -187,6 +188,14 @@ void cmd_proc(int &stepAz, int &stepEl)
{
stepEl = ELstepper.currentPosition();;
}
+ else if (buffer[0] == 'H' && buffer[1] == 'M')
+ {
+ /*Move the steppers to initial position*/
+ Homing(0,0);
+ /*Zero the steps*/
+ stepAz = 0;
+ stepEl = 0;
+ }
counter = 0;
/*Reset the disable motor time*/
t_DIS = 0;
@@ -208,20 +217,20 @@ void error(int num_error)
case (0):
while(1)
{
- Serial.println("Error[0]: Azimuth Homing");
+ Serial.println("AL001");
delay(100);
}
/*Elevation error*/
case (1):
while(1)
{
- Serial.println("Error[1]: Elevation Homing");
+ Serial.println("AL002");
delay(100);
}
default:
while(1)
{
- Serial.println("Error[?]: Unknown error");
+ Serial.println("AL000");
delay(100);
}
}
--
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