arduino code

arduino/SatNOGS.ino

+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+
+#define DIR_AZ 8
+#define STEP_AZ 9
+#define EN_AZ 7
+
+#define DIR_EL 10
+#define STEP_EL 11
+#define EN_EL 12
+
+#define SPD 200 //step per degree
+#define T_DEALY 10000
+#define T_STEPPER 1
+
+int stepPosAz = 0;
+int stepAz = 0;
+int stepPosEl = 0;
+int stepEl = 0;
+long t1 = 0;
+
+
+void setup()
+{
+  pinMode(DIR_AZ, OUTPUT);
+  pinMode(STEP_AZ, OUTPUT);
+  pinMode(EN_AZ, OUTPUT);
+  digitalWrite(EN_AZ, LOW);
+  digitalWrite(DIR_AZ, LOW);
+  
+  pinMode(DIR_EL, OUTPUT);
+  pinMode(STEP_EL, OUTPUT);
+  pinMode(EN_EL, OUTPUT);
+  digitalWrite(EN_EL, LOW);
+  digitalWrite(DIR_EL, LOW);
+  
+  Serial.begin(19200);
+}
+
+void loop()
+{   
+  /*Time Check*/
+  if (t1 == 0)
+    t1 = millis();
+  if (stepAz == 0 && stepEl == 0 && millis()-t1 > T_DEALY)
+  {
+    digitalWrite(EN_AZ, HIGH);
+    digitalWrite(EN_EL, HIGH);
+  }
+  else
+  {
+    digitalWrite(EN_AZ, LOW);
+    digitalWrite(EN_EL, LOW);
+  }  
+  
+  cmd_proc();
+  
+  stepper_move();
+}

arduino/Serial.ino

+void cmd_proc()
+{
+  /*Serial*/
+  static char buffer[256];
+  char incomingByte;
+  static int counter=0;
+  char data[100];
+  
+  /*Read from serial*/
+  while (Serial.available() > 0)
+  {
+    incomingByte = Serial.read();
+    /*new data*/
+    if (incomingByte == '\n' || incomingByte == ' ' || incomingByte == '\r')
+    {
+      buffer[counter]=0;
+      if (buffer[0] == 'A' && buffer[1] == 'Z')
+      {
+        strncpy(data, buffer+2, 100);
+        double cmdAz = atof(data);
+        
+        stepAz = path(cmdAz);        
+      }
+      else if (buffer[0] == 'E' && buffer[1] == 'L')
+      {
+        strncpy(data, buffer+2, 10);
+        double cmdEl = atof(data);
+        stepEl = deg2step(cmdEl)-stepPosEl;
+      }
+      else if (buffer[0] == 'S' && buffer[1] == 'A')
+      {
+        stepAz = 0;
+      }
+      else if (buffer[0] == 'S' && buffer[1] == 'E')
+      {
+        stepEl = 0;
+      }
+
+      counter = 0;
+      
+      //Reset time
+      t1 = 0;      
+    }
+    /*Fill the buffer with incoming data*/
+    else {
+      buffer[counter] = incomingByte;
+      counter++;
+    }
+  }
+}

arduino/Stepper.ino

+void stepper_move()
+{
+  if(stepAz>0)
+  {
+    digitalWrite(DIR_AZ, HIGH);
+    digitalWrite(STEP_AZ, HIGH); 
+    stepPosAz++;
+    stepAz--;
+  }
+  else if(stepAz<0)
+  {
+    digitalWrite(DIR_AZ, LOW);
+    digitalWrite(STEP_AZ, HIGH);
+    stepPosAz--;
+    stepAz++;
+  }
+
+  if(stepEl>0)
+  {
+    digitalWrite(DIR_EL, LOW);
+    digitalWrite(STEP_EL, HIGH); 
+    stepPosEl++;
+    stepEl--;
+  }
+  else if(stepEl<0)
+  {
+    digitalWrite(DIR_EL, HIGH);
+    digitalWrite(STEP_EL, HIGH);
+    stepPosEl--;
+    stepEl++;
+  }
+  
+  delay(T_STEPPER);
+  digitalWrite(STEP_AZ, LOW);
+  digitalWrite(STEP_EL, LOW);
+  delay(T_STEPPER);
+
+}
+
+int path( double cmdAz)
+{
+  int sign = 0, stepTemp;
+  double PosAz = cmdAz - step2deg(stepPosAz);
+  double distAz = abs(PosAz);
+      
+  if (distAz < 180)
+    stepAz = deg2step(PosAz);
+  else
+  {
+    if (PosAz > 0)
+      sign = -1;
+    else
+      sign = 1;
+    stepTemp = deg2step((360-PosAz)*sign);
+  }
+  
+  return stepTemp;
+}
+
+int deg2step(double deg)
+{
+  return(60*SPD*deg/360);
+}
+
+float step2deg(int Step)
+{
+  return(360*Step/(SPD*60));
+}