Diff: EquatorialMount.cpp

Revision:

17:7e47bc1630c0

Parent:

10:e356188d208e

Child:

19:fd854309cb4c

--- a/EquatorialMount.cpp	Fri Sep 14 03:05:47 2018 -0400
+++ b/EquatorialMount.cpp	Fri Sep 14 21:09:02 2018 -0400
@@ -139,8 +139,7 @@
 	}
 	osStatus s = osOK;
 	mutex_execution.lock();
-	if (newdir == NUDGE_NONE) // Stop nudging if being nudged
-			{
+	if (newdir == NUDGE_NONE) { // Stop nudging if being nudged
 		if (status & MOUNT_NUDGING) {
 			mountstatus_t oldstatus = status;
 			stopAsync(); // Stop the mount
@@ -234,7 +233,7 @@
 
 		// Now RA
 		if (ra_changed && s == osOK) {
-			if (status & MOUNT_TRACKING) { // In tracking mode now
+			if (status & MOUNT_TRACKING) { // In tracking mode now, need to calculate differential rate
 				if (ra_dir == AXIS_ROTATE_STOP) { // resume tracking
 					s = ra.startTracking(AXIS_ROTATE_POSITIVE);
 				} else {
@@ -385,11 +384,61 @@
 }
 
 void EquatorialMount::setSlewSpeed(double rate) {
-//	mutex_execution.lock();
-	ra.setSlewSpeed(rate);
+	if (status & MOUNT_NUDGING) {
+		// Need to lock the mutex if mount is being nudged, to update the nudgeSpeed
+		mutex_execution.lock();
+		nudgeSpeed = rate; // Update nudgeSpeed
+		if ((status == MOUNT_NUDGING_TRACKING)
+				&& ((curr_nudge_dir & (NUDGE_EAST | NUDGE_WEST)) != 0)) { // Need to take special care in nudging_tracking mode that affects RA (i.e. indefinite slew w/ tracking)
+			axisrotdir_t ra_dir = AXIS_ROTATE_STOP, curr_dir;
+			// Get RA rotation direction (on top of tracking rate)
+			if (curr_nudge_dir & NUDGE_EAST) {
+				// Nudge east
+				ra_dir = AXIS_ROTATE_NEGATIVE;
+			} else if (curr_nudge_dir & NUDGE_WEST) {
+				// Nudge west
+				ra_dir = AXIS_ROTATE_POSITIVE;
+			}
+
+			curr_dir = ra.getCurrentDirection(); // Current direction
+
+			double trackSpeed = ra.getTrackSpeedSidereal() * sidereal_speed;
+			double absSpeed = nudgeSpeed;
+
+			if (ra_dir == AXIS_ROTATE_POSITIVE) {
+				// Same direction as tracking
+				absSpeed = nudgeSpeed + trackSpeed;
+				// keep ra_dir
+			} else if (nudgeSpeed < trackSpeed) { // ra_dir == AXIS_ROTATE_NEGATIVE
+												  // Partially canceling the tracking speed
+				absSpeed = trackSpeed - nudgeSpeed;
+			} else if (nudgeSpeed > trackSpeed) {// ra_dir == AXIS_ROTATE_NEGATIVE
+												 // Direction inverted
+				absSpeed = nudgeSpeed - trackSpeed;
+				ra_dir = AXIS_ROTATE_NEGATIVE; // Invert the rotation
+			} else { // nudgeSpeed == trackSpeed
+				absSpeed = 0; // Set speed to zero, although effective the speed would be a tiny value
+			}
+
+			if (ra_dir != curr_dir) {
+				ra.stop();
+			}
+			ra.setSlewSpeed(absSpeed);
+			if (ra_dir != curr_dir) {
+				ra.startSlewingIndefinite(ra_dir);
+			}
+
+		} else {
+			// Simply update rate
+			ra.setSlewSpeed(rate);
+		}
+		mutex_execution.unlock();
+	} else {
+		// Simply update rate
+		ra.setSlewSpeed(rate);
+	}
+	// Simply update rate for DEC
 	dec.setSlewSpeed(rate);
-	nudgeSpeed = rate; // If this happens during nudging, this is necessary to keep the nudging speed correct
-//	mutex_execution.unlock();
 }
 
 void EquatorialMount::setTrackSpeedSidereal(double rate) {