Yuan Cao / pushtogo

Telescope Control Library

Dependents:   PushToGo-F429

EquatorialMount.h@19:fd854309cb4c, 2018-09-24 (annotated)

Committer:
caoyu@caoyuan9642-desktop.MIT.EDU
Date:
Mon Sep 24 19:36:48 2018 -0400
Revision:
19:fd854309cb4c
Parent:
18:3ea58b079adc 
Fix bug in nudging with small speeds mentioned in the last commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
caoyuan9642 0:6cb2eaf8b133 1 #ifndef EQUATORIALMOUNT_H_
caoyuan9642 0:6cb2eaf8b133 2 #define EQUATORIALMOUNT_H_
caoyuan9642 0:6cb2eaf8b133 3 #include "Axis.h"
caoyuan9642 0:6cb2eaf8b133 4 #include "Mount.h"
caoyuan9642 0:6cb2eaf8b133 5 #include "UTCClock.h"
caoyuan9642 0:6cb2eaf8b133 6 #include "LocationProvider.h"
caoyuan9642 0:6cb2eaf8b133 7 #include "CelestialMath.h"
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 8 #include "PEC.h"
caoyuan9642 0:6cb2eaf8b133 9
caoyuan9642 0:6cb2eaf8b133 10 #define MAX_AS_N 10 // Max number of alignment stars
caoyuan9642 0:6cb2eaf8b133 11
caoyu@caoyuan9642-desktop.MIT.EDU 10:e356188d208e 12 class Axis;
caoyu@caoyuan9642-desktop.MIT.EDU 10:e356188d208e 13 class PEC;
caoyu@caoyuan9642-desktop.MIT.EDU 10:e356188d208e 14
caoyuan9642 0:6cb2eaf8b133 15 /**
caoyuan9642 0:6cb2eaf8b133 16 * Direction of nudge
caoyuan9642 0:6cb2eaf8b133 17 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 18 typedef enum {
caoyuan9642 0:6cb2eaf8b133 19 NUDGE_NONE = 0,
caoyuan9642 0:6cb2eaf8b133 20 NUDGE_EAST = 1,
caoyuan9642 0:6cb2eaf8b133 21 NUDGE_WEST = 2,
caoyuan9642 0:6cb2eaf8b133 22 NUDGE_NORTH = 4,
caoyuan9642 0:6cb2eaf8b133 23 NUDGE_SOUTH = 8,
caoyuan9642 0:6cb2eaf8b133 24
caoyuan9642 0:6cb2eaf8b133 25 NUDGE_NORTHWEST = NUDGE_NORTH | NUDGE_WEST,
caoyuan9642 0:6cb2eaf8b133 26 NUDGE_SOUTHWEST = NUDGE_SOUTH | NUDGE_WEST,
caoyuan9642 0:6cb2eaf8b133 27 NUDGE_NORTHEAST = NUDGE_NORTH | NUDGE_EAST,
caoyuan9642 0:6cb2eaf8b133 28 NUDGE_SOUTHEAST = NUDGE_SOUTH | NUDGE_EAST,
caoyuan9642 0:6cb2eaf8b133 29 } nudgedir_t;
caoyuan9642 0:6cb2eaf8b133 30
caoyuan9642 0:6cb2eaf8b133 31 /**
caoyuan9642 0:6cb2eaf8b133 32 * Direction of guide
caoyuan9642 0:6cb2eaf8b133 33 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 34 typedef enum {
caoyuan9642 0:6cb2eaf8b133 35 GUIDE_EAST = 1, GUIDE_WEST = 2, GUIDE_NORTH = 3, GUIDE_SOUTH = 4,
caoyuan9642 0:6cb2eaf8b133 36 } guidedir_t;
caoyuan9642 0:6cb2eaf8b133 37
caoyuan9642 0:6cb2eaf8b133 38 /**
caoyuan9642 0:6cb2eaf8b133 39 * Object that represents an equatorial mount with two perpendicular axis called RA and Dec.
caoyuan9642 0:6cb2eaf8b133 40 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 41 class EquatorialMount: public Mount {
caoyuan9642 0:6cb2eaf8b133 42
caoyuan9642 0:6cb2eaf8b133 43 protected:
caoyuan9642 0:6cb2eaf8b133 44 Axis &ra; /// RA Axis
caoyuan9642 0:6cb2eaf8b133 45 Axis &dec; /// DEC Axis
caoyuan9642 0:6cb2eaf8b133 46
caoyuan9642 0:6cb2eaf8b133 47 UTCClock &clock; /// Clock
caoyuan9642 0:6cb2eaf8b133 48
caoyuan9642 0:6cb2eaf8b133 49 Mutex mutex_update; /// Mutex to lock position updating
caoyuan9642 0:6cb2eaf8b133 50 Mutex mutex_execution; /// Mutex to lock motion related functions
caoyuan9642 0:6cb2eaf8b133 51
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 52 LocationProvider loc; /// Current location (GPS coordinates)
caoyuan9642 0:6cb2eaf8b133 53 bool south; /// If we are in south semisphere
caoyuan9642 0:6cb2eaf8b133 54 MountCoordinates curr_pos; /// Current Position in mount coordinates (offset from the index positions)
caoyuan9642 0:6cb2eaf8b133 55 EquatorialCoordinates curr_pos_eq; /// Current Position in the equatorial coordinates (absolute pointing direction in the sky)
caoyuan9642 0:6cb2eaf8b133 56 nudgedir_t curr_nudge_dir;
caoyuan9642 0:6cb2eaf8b133 57 double nudgeSpeed;
caoyuan9642 0:6cb2eaf8b133 58
caoyuan9642 0:6cb2eaf8b133 59 pierside_t pier_side; /// Side of pier. 1: East
caoyuan9642 0:6cb2eaf8b133 60 EqCalibration calibration;
caoyuan9642 0:6cb2eaf8b133 61 AlignmentStar alignment_stars[MAX_AS_N];
caoyuan9642 0:6cb2eaf8b133 62 int num_alignment_stars;
caoyuan9642 0:6cb2eaf8b133 63
caoyu@caoyuan9642-desktop.MIT.EDU 10:e356188d208e 64 PEC pec; /// PEC function
caoyu@caoyuan9642-desktop.MIT.EDU 10:e356188d208e 65
caoyuan9642 0:6cb2eaf8b133 66 public:
caoyuan9642 0:6cb2eaf8b133 67
caoyuan9642 0:6cb2eaf8b133 68 /**
caoyuan9642 0:6cb2eaf8b133 69 * Create an EquatorialMount object which controls two axis
caoyuan9642 0:6cb2eaf8b133 70 * @param ra RA Axis
caoyuan9642 0:6cb2eaf8b133 71 * @param dec DEC Axis
caoyuan9642 0:6cb2eaf8b133 72 * @note cone_value, ma_alt, ma_azi,off_ra, off_dec will be init to zero, i.e. assuming a perfectly aligned mount pointing at RA=DEC=0
caoyuan9642 0:6cb2eaf8b133 73 * @note This class assumes that the rotating direction of both axis are correct.
caoyuan9642 0:6cb2eaf8b133 74 * This should be done using the invert option when initializing the RotationAxis objects
caoyuan9642 0:6cb2eaf8b133 75 * @sa RotationAxis
caoyuan9642 0:6cb2eaf8b133 76 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 77 EquatorialMount(Axis &ra, Axis &dec, UTCClock &clk, LocationProvider &loc);
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 78 virtual ~EquatorialMount() {
caoyuan9642 0:6cb2eaf8b133 79 }
caoyuan9642 0:6cb2eaf8b133 80
caoyuan9642 0:6cb2eaf8b133 81 /**
caoyuan9642 0:6cb2eaf8b133 82 * Perform a Go-To to specified equatorial coordinates in the sky
caoyuan9642 0:6cb2eaf8b133 83 * @param ra_dest RA coordinate in degree.
caoyuan9642 0:6cb2eaf8b133 84 * @return osOK if no error
caoyuan9642 0:6cb2eaf8b133 85 */
caoyuan9642 0:6cb2eaf8b133 86 osStatus goTo(double ra_dest, double dec_dest);
caoyuan9642 0:6cb2eaf8b133 87 osStatus goTo(EquatorialCoordinates dest);
caoyuan9642 0:6cb2eaf8b133 88 osStatus goToMount(MountCoordinates mc, bool withCorrection = true);
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 89 osStatus goToIndex() {
caoyuan9642 0:6cb2eaf8b133 90 return goToMount(MountCoordinates(0, 0));
caoyuan9642 0:6cb2eaf8b133 91 }
caoyuan9642 0:6cb2eaf8b133 92
caoyuan9642 0:6cb2eaf8b133 93 osStatus startNudge(nudgedir_t);
caoyuan9642 0:6cb2eaf8b133 94 osStatus stopNudge();
caoyuan9642 0:6cb2eaf8b133 95
caoyuan9642 0:6cb2eaf8b133 96 osStatus startTracking();
caoyuan9642 0:6cb2eaf8b133 97 osStatus stopTracking();
caoyuan9642 0:6cb2eaf8b133 98
caoyuan9642 2:2ee28add0821 99 mountstatus_t getStatus();
caoyuan9642 0:6cb2eaf8b133 100 /**
caoyuan9642 0:6cb2eaf8b133 101 * Guide on specified direction for specified time
caoyuan9642 0:6cb2eaf8b133 102 */
caoyuan9642 0:6cb2eaf8b133 103 osStatus guide(guidedir_t dir, int ms);
caoyuan9642 0:6cb2eaf8b133 104
caoyuan9642 0:6cb2eaf8b133 105 /*Calibration related functions*/
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 106
caoyuan9642 0:6cb2eaf8b133 107 /**
caoyuan9642 0:6cb2eaf8b133 108 * Clear calibration, use current latitude for the polar axis
caoyuan9642 0:6cb2eaf8b133 109 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 110 void clearCalibration() {
caoyuan9642 0:6cb2eaf8b133 111 num_alignment_stars = 0;
caoyuan9642 0:6cb2eaf8b133 112 calibration = EqCalibration();
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 113 calibration.pa.alt = loc.getLatitude();
caoyuan9642 0:6cb2eaf8b133 114 }
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 115
caoyuan9642 4:b8ad57bbf9e1 116 /**
caoyuan9642 4:b8ad57bbf9e1 117 * Clear calibration except axis offsets, use current latitude for the polar axis
caoyuan9642 4:b8ad57bbf9e1 118 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 119 void clearCalibrationExceptOffsets() {
caoyuan9642 4:b8ad57bbf9e1 120 num_alignment_stars = 0;
caoyuan9642 4:b8ad57bbf9e1 121 calibration.cone = 0;
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 122 calibration.pa.alt = loc.getLatitude();
caoyuan9642 4:b8ad57bbf9e1 123 calibration.pa.azi = 0;
caoyuan9642 4:b8ad57bbf9e1 124 }
caoyuan9642 0:6cb2eaf8b133 125
caoyuan9642 4:b8ad57bbf9e1 126 /**
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 127 * Get calibration
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 128 * @return Current calibration
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 129 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 130 const EqCalibration &getCalibration() const {
caoyuan9642 0:6cb2eaf8b133 131 return calibration;
caoyuan9642 0:6cb2eaf8b133 132 }
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 133
caoyuan9642 4:b8ad57bbf9e1 134 /**
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 135 * Set calibration
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 136 * @param calib New Calibration
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 137 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 138 void setCalibration(const EqCalibration &calib) {
caoyuan9642 4:b8ad57bbf9e1 139 calibration = calib;
caoyuan9642 4:b8ad57bbf9e1 140 }
caoyuan9642 0:6cb2eaf8b133 141
caoyuan9642 4:b8ad57bbf9e1 142 /** @return number of alignment stars
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 143 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 144 int getNumAlignmentStar() {
caoyuan9642 0:6cb2eaf8b133 145 return num_alignment_stars;
caoyuan9642 0:6cb2eaf8b133 146 }
caoyuan9642 0:6cb2eaf8b133 147
caoyuan9642 4:b8ad57bbf9e1 148 /** Add an alignment star
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 149 * @return osStatus error if no more star can be added
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 150 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 151 osStatus addAlignmentStar(const AlignmentStar &as) {
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 152 if (num_alignment_stars < MAX_AS_N) {
caoyuan9642 0:6cb2eaf8b133 153 alignment_stars[num_alignment_stars++] = as;
caoyuan9642 0:6cb2eaf8b133 154 return recalibrate();
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 155 } else
caoyuan9642 0:6cb2eaf8b133 156 return osErrorResource;
caoyuan9642 0:6cb2eaf8b133 157 }
caoyuan9642 0:6cb2eaf8b133 158
caoyuan9642 4:b8ad57bbf9e1 159 /** Remove an alignment star
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 160 * @param index # of star to remove, starting from 0
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 161 * @return osStatus error if no more star can be deleted
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 162 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 163 osStatus removeAlignmentStar(int index) {
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 164 if (index < 0 || index >= num_alignment_stars) {
caoyuan9642 0:6cb2eaf8b133 165 return osErrorParameter;
caoyuan9642 0:6cb2eaf8b133 166 }
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 167 for (; index < num_alignment_stars - 1; index++) {
caoyuan9642 0:6cb2eaf8b133 168 alignment_stars[index] = alignment_stars[index + 1];
caoyuan9642 0:6cb2eaf8b133 169 }
caoyuan9642 0:6cb2eaf8b133 170 num_alignment_stars--;
caoyuan9642 0:6cb2eaf8b133 171 return recalibrate();
caoyuan9642 0:6cb2eaf8b133 172 }
caoyuan9642 0:6cb2eaf8b133 173
caoyuan9642 4:b8ad57bbf9e1 174 /** Get alignment star
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 175 * @param index # of star to get
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 176 * @return pointer to that alignment star if found, NULL if doesn't exist
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 177 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 178 AlignmentStar *getAlignmentStar(int index) {
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 179 if (index < 0 || index >= num_alignment_stars) {
caoyuan9642 0:6cb2eaf8b133 180 return NULL;
caoyuan9642 0:6cb2eaf8b133 181 }
caoyuan9642 0:6cb2eaf8b133 182 return &alignment_stars[index];
caoyuan9642 0:6cb2eaf8b133 183 }
caoyuan9642 0:6cb2eaf8b133 184
caoyuan9642 4:b8ad57bbf9e1 185 /** Replace an alignment star with another
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 186 * @param index # of star to replace
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 187 * @param as new star to add. Will be copied by value
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 188 * @return error if star not found
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 189 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 190 osStatus replaceAlignmentStar(int index, const AlignmentStar &as) {
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 191 if (index < 0 || index >= num_alignment_stars) {
caoyuan9642 0:6cb2eaf8b133 192 return osErrorParameter;
caoyuan9642 0:6cb2eaf8b133 193 }
caoyuan9642 0:6cb2eaf8b133 194 alignment_stars[index] = as;
caoyuan9642 0:6cb2eaf8b133 195 return recalibrate();
caoyuan9642 0:6cb2eaf8b133 196 }
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 197
caoyuan9642 4:b8ad57bbf9e1 198 /** Force all alignment stars to be perfected aligned according to the current calibration
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 199 * Useful during a polar alignment procedure
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 200 * @note This will throw off all the alignment stars if the error is too big or calibration is wrong
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 201 */
caoyuan9642 4:b8ad57bbf9e1 202 void forceAlignment();
caoyuan9642 0:6cb2eaf8b133 203
caoyuan9642 4:b8ad57bbf9e1 204 /**
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 205 * Convert EQ coordinates to mount coodinates using current calibration. Utility function
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 206 * @param eq EQ coordinate to convert
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 207 * @return mount coordinates
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 208 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 209 MountCoordinates convertToMountCoordinates(
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 210 const EquatorialCoordinates &eq) {
caoyuan9642 0:6cb2eaf8b133 211 LocalEquatorialCoordinates leq =
caoyu@caoyuan9642-desktop.MIT.EDU 18:3ea58b079adc 212 CelestialMath::equatorialToLocalEquatorial(eq, clock.getTimeHighResolution(),
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 213 loc.getLocation());
caoyuan9642 0:6cb2eaf8b133 214 // Apply PA misalignment
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 215 leq = CelestialMath::applyMisalignment(leq, calibration.pa,
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 216 loc.getLocation());
caoyuan9642 0:6cb2eaf8b133 217 // Apply Cone error
caoyuan9642 0:6cb2eaf8b133 218 leq = CelestialMath::applyConeError(leq, calibration.cone);
caoyuan9642 0:6cb2eaf8b133 219 // Convert to Mount coordinates. Automatically determine the pier side, then apply offset
caoyuan9642 0:6cb2eaf8b133 220 return CelestialMath::localEquatorialToMount(leq, PIER_SIDE_AUTO)
caoyuan9642 0:6cb2eaf8b133 221 + calibration.offset;
caoyuan9642 0:6cb2eaf8b133 222 }
caoyuan9642 0:6cb2eaf8b133 223
caoyuan9642 4:b8ad57bbf9e1 224 /**
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 225 * Convert mount coordinates to EQ coodinates using current calibration. Utility function
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 226 * @param mc Mount coordinate to convert
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 227 * @return EQ coordinates
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 228 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 229 EquatorialCoordinates convertToEqCoordinates(const MountCoordinates &mc) {
caoyuan9642 0:6cb2eaf8b133 230 LocalEquatorialCoordinates leq = CelestialMath::mountToLocalEquatorial(
caoyuan9642 0:6cb2eaf8b133 231 mc - calibration.offset);
caoyuan9642 0:6cb2eaf8b133 232 leq = CelestialMath::deapplyConeError(leq, calibration.cone);
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 233 leq = CelestialMath::deapplyMisalignment(leq, calibration.pa, loc.getLocation());
caoyu@caoyuan9642-desktop.MIT.EDU 18:3ea58b079adc 234 return CelestialMath::localEquatorialToEquatorial(leq, clock.getTimeHighResolution(),
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 235 loc.getLocation());
caoyuan9642 0:6cb2eaf8b133 236 }
caoyuan9642 0:6cb2eaf8b133 237
caoyuan9642 4:b8ad57bbf9e1 238 /**
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 239 * Use alignment stars to recalculate the calibration.
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 240 * @return osStatus
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 241 */
caoyuan9642 0:6cb2eaf8b133 242 osStatus recalibrate();
caoyuan9642 0:6cb2eaf8b133 243
caoyuan9642 0:6cb2eaf8b133 244 /**
caoyuan9642 0:6cb2eaf8b133 245 * Call emergency stop of the Axis objects
caoyuan9642 0:6cb2eaf8b133 246 * @note This function can be called from any context (including ISR) to perform a hard stop of the mount
caoyuan9642 0:6cb2eaf8b133 247 */
caoyuan9642 0:6cb2eaf8b133 248 void emergencyStop();
caoyuan9642 0:6cb2eaf8b133 249
caoyuan9642 0:6cb2eaf8b133 250 /**
caoyuan9642 0:6cb2eaf8b133 251 * Call stop of the Axis objects
caoyuan9642 0:6cb2eaf8b133 252 * @note This function can be called from any context (including ISR) to perform a soft stop of the mount
caoyuan9642 0:6cb2eaf8b133 253 */
caoyuan9642 0:6cb2eaf8b133 254 void stopAsync();
caoyuan9642 0:6cb2eaf8b133 255
caoyuan9642 0:6cb2eaf8b133 256 /** BLOCKING. Cannot be called in ISR.
caoyuan9642 0:6cb2eaf8b133 257 * Call stop of the Axis objects and wait until they are stopped.
caoyuan9642 0:6cb2eaf8b133 258 * @note This function can be called from any context (including ISR) to perform a soft stop of the mount
caoyuan9642 0:6cb2eaf8b133 259 */
caoyuan9642 0:6cb2eaf8b133 260 void stopSync();
caoyuan9642 0:6cb2eaf8b133 261
caoyuan9642 0:6cb2eaf8b133 262 /**
caoyuan9642 0:6cb2eaf8b133 263 * Get current equatorial coordinates
caoyuan9642 0:6cb2eaf8b133 264 * @return current equatorial coordinates
caoyuan9642 0:6cb2eaf8b133 265 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 266 const EquatorialCoordinates &getEquatorialCoordinates() {
caoyuan9642 0:6cb2eaf8b133 267 updatePosition();
caoyuan9642 0:6cb2eaf8b133 268 return curr_pos_eq;
caoyuan9642 0:6cb2eaf8b133 269 }
caoyuan9642 0:6cb2eaf8b133 270
caoyuan9642 0:6cb2eaf8b133 271 /**
caoyuan9642 0:6cb2eaf8b133 272 * Get current mount coordinates
caoyuan9642 0:6cb2eaf8b133 273 * @return current mount coordinates
caoyuan9642 0:6cb2eaf8b133 274 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 275 const MountCoordinates &getMountCoordinates() {
caoyuan9642 0:6cb2eaf8b133 276 updatePosition();
caoyuan9642 0:6cb2eaf8b133 277 return curr_pos;
caoyuan9642 0:6cb2eaf8b133 278 }
caoyuan9642 0:6cb2eaf8b133 279
caoyuan9642 0:6cb2eaf8b133 280 /**
caoyuan9642 0:6cb2eaf8b133 281 * Make an alignment star object using the provided reference star, current mount position, and current time
caoyuan9642 0:6cb2eaf8b133 282 * @param star_ref Reference star position
caoyuan9642 0:6cb2eaf8b133 283 * @return AlignmentStar object representing the alignment star
caoyuan9642 0:6cb2eaf8b133 284 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 285 AlignmentStar makeAlignmentStar(const EquatorialCoordinates star_ref) {
caoyuan9642 0:6cb2eaf8b133 286 updatePosition();
caoyu@caoyuan9642-desktop.MIT.EDU 18:3ea58b079adc 287 return AlignmentStar(star_ref, curr_pos, clock.getTimeHighResolution());
caoyuan9642 0:6cb2eaf8b133 288 }
caoyuan9642 0:6cb2eaf8b133 289
caoyuan9642 0:6cb2eaf8b133 290 /**
caoyuan9642 0:6cb2eaf8b133 291 * Align the current mount using an array of alignment stars. Support up to 10 stars.
caoyuan9642 0:6cb2eaf8b133 292 * @note If n=1, will only correct for Index offset
caoyuan9642 0:6cb2eaf8b133 293 * If n=2, will correct for index offset and polar misalignment
caoyuan9642 0:6cb2eaf8b133 294 * If n>=3, will correct for index offset, pa misalignment and cone error
caoyuan9642 0:6cb2eaf8b133 295 * @param n # of alignment stars to use
caoyuan9642 0:6cb2eaf8b133 296 * @param as Array of alignment stars
caoyuan9642 0:6cb2eaf8b133 297 * @return osOK if successfully converged and updated the values
caoyuan9642 0:6cb2eaf8b133 298 */
caoyuan9642 0:6cb2eaf8b133 299 osStatus align(int n, const AlignmentStar as[]);
caoyuan9642 0:6cb2eaf8b133 300
caoyuan9642 0:6cb2eaf8b133 301 /**
caoyuan9642 0:6cb2eaf8b133 302 * Set slew rate of both axis
caoyuan9642 0:6cb2eaf8b133 303 * @param rate new speed
caoyuan9642 0:6cb2eaf8b133 304 */
caoyuan9642 0:6cb2eaf8b133 305 void setSlewSpeed(double rate);
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 306
caoyuan9642 4:b8ad57bbf9e1 307 /** @return current slew speed
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 308 */
caoyuan9642 0:6cb2eaf8b133 309 double getSlewSpeed();
caoyuan9642 0:6cb2eaf8b133 310
caoyuan9642 0:6cb2eaf8b133 311 /**
caoyuan9642 0:6cb2eaf8b133 312 * Set tracking speed of RA axis
caoyuan9642 0:6cb2eaf8b133 313 * @param rate new speed in sidereal rate
caoyuan9642 0:6cb2eaf8b133 314 */
caoyuan9642 0:6cb2eaf8b133 315 void setTrackSpeedSidereal(double rate);
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 316
caoyuan9642 4:b8ad57bbf9e1 317 /** @return current track speed in sidereal units
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 318 */
caoyuan9642 0:6cb2eaf8b133 319 double getTrackSpeedSidereal();
caoyuan9642 0:6cb2eaf8b133 320
caoyuan9642 0:6cb2eaf8b133 321 /**
caoyuan9642 0:6cb2eaf8b133 322 * Set guiding speed of RA axis
caoyuan9642 0:6cb2eaf8b133 323 * @param rate new speed in sidereal rate
caoyuan9642 0:6cb2eaf8b133 324 */
caoyuan9642 0:6cb2eaf8b133 325 void setGuideSpeedSidereal(double rate);
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 326
caoyuan9642 4:b8ad57bbf9e1 327 /** @return current guide speed in sidereal units
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 328 */
caoyuan9642 0:6cb2eaf8b133 329 double getGuideSpeedSidereal();
caoyuan9642 0:6cb2eaf8b133 330
caoyuan9642 0:6cb2eaf8b133 331 /**
caoyuan9642 4:b8ad57bbf9e1 332 * Print current position to stream.
caoyuan9642 0:6cb2eaf8b133 333 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 334 void printPosition(FILE *stream = stdout) {
caoyuan9642 0:6cb2eaf8b133 335 fprintf(stream, "Mount: RA=%7.2f, DEC=%7.2f %c\n", curr_pos.ra_delta,
caoyuan9642 0:6cb2eaf8b133 336 curr_pos.dec_delta,
caoyuan9642 0:6cb2eaf8b133 337 (curr_pos.side == PIER_SIDE_WEST) ? 'W' : 'E');
caoyuan9642 0:6cb2eaf8b133 338 fprintf(stream, "EQ: RA=%7.2f, DEC=%7.2f\n", curr_pos_eq.ra,
caoyuan9642 0:6cb2eaf8b133 339 curr_pos_eq.dec);
caoyuan9642 0:6cb2eaf8b133 340 }
caoyuan9642 0:6cb2eaf8b133 341
caoyuan9642 4:b8ad57bbf9e1 342 /**
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 343 * Update current pointing direction from low-level encoders/counters.
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 344 * @note should be called before printing the position using printPosition
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 345 */
caoyuan9642 0:6cb2eaf8b133 346 void updatePosition();
caoyuan9642 0:6cb2eaf8b133 347
caoyuan9642 4:b8ad57bbf9e1 348 /** Get current time source
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 349 */
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 350 UTCClock& getClock() const {
caoyuan9642 0:6cb2eaf8b133 351 return clock;
caoyuan9642 0:6cb2eaf8b133 352 }
caoyuan9642 0:6cb2eaf8b133 353
caoyuan9642 4:b8ad57bbf9e1 354 /** @return get current location coodinates.
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 355 */
caoyu@caoyuan9642-desktop.MIT.EDU 10:e356188d208e 356 LocationCoordinates getLocation() const {
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 357 return loc.getLocation();
caoyuan9642 0:6cb2eaf8b133 358 }
caoyu@caoyuan9642-desktop.MIT.EDU 9:d0413a9b1386 359
caoyuan9642 0:6cb2eaf8b133 360 };
caoyuan9642 0:6cb2eaf8b133 361
caoyuan9642 0:6cb2eaf8b133 362 #endif /*EQUATORIALMOUNT_H_*/
caoyuan9642 0:6cb2eaf8b133 363