float StringProxy_AF3::getStepsPerDeg( ) {
double stepsPerDeg = 3792.0f * _eeprom->getStepMode(); //steps per 360 of motor shaft
stepsPerDeg *= ( 100.0f / 20.0f ); //steps per 360 deg of rotator
stepsPerDeg /= 360.0f; //steps per deg
return stepsPerDeg;
}
float StringProxy_AF3::stepsToDeg( unsigned long steps ) {
float stepsPerDeg = this->getStepsPerDeg();
float deg = steps / stepsPerDeg;
deg -= 90.0f; //shift by 90deg
while( deg < 0.0f ) {
deg += 360.0f;
}
while( deg >= 360.0f ) {
deg -= 360.0f;
}
return deg;
}
unsigned long StringProxy_AF3::degToSteps( float deg ) {
float stepsPerDeg = this->getStepsPerDeg();
deg += 90.0f; //shift by 90deg
while( deg < 0.0f ) {
deg += 360.0f;
}
while( deg >= 360.0f ) {
deg -= 360.0f;
}
unsigned long steps = deg * stepsPerDeg;
return steps;
}
char const *StringProxy_AF3::processFalconCommand( char *command, char *commandParam, int commandParamLength ) {
float deg;
unsigned long maxSteps;
unsigned long steps;
if( command[0] == 'F' ) {
switch( command[1] ) {
case '#': //status
return "FR_OK";
case 'S':
dtostrf(this->getStepsPerDeg(), 1, 2, _resultBuffer2);
sprintf(_resultBuffer1, "FS:%s",_resultBuffer2 );
return _resultBuffer1;
case 'A': //full status
/*
Receive: FR_OK:43:32:50.00:0:0:0:0
status FR_OK means that focuser is up and running
position_in_deg Position in degrees (double number, 2 decimals)
is_running Boolean value: Prints 1 if falcon motor is running, 0 if not
limit_detect Boolean value: Prints 1 if limit is detected, Print 0 if limit is not detected
do_derotation Boolean value: Print 1 if derotation is active, Print 0 if is deactivated
motor_reverse Boolean value: Print 1 if reverse is enabled, 0 if is disabled
*/
dtostrf(this->stepsToDeg( _eeprom->getPosition() ), 1, 2, _resultBuffer2);
sprintf(_resultBuffer1,
"FR_OK:%lu:%s:%c:0:0:%c",
_eeprom->getPosition(),
_resultBuffer2,
_motor->isMoving() ? '1' : '0',
_eeprom->getReverseDirection() ? '1' : '0'
);
return _resultBuffer1;
case 'V': //Report firmware version - FV:n.n
return "FV:1.3";
case 'D': //Report position in degrees - FD:nn.nn
dtostrf(this->stepsToDeg( _eeprom->getPosition() ), 1, 2, _resultBuffer2);
sprintf(_resultBuffer1, "FD:%s", _resultBuffer2 );
return _resultBuffer1;
case 'P': //Report position in steps - FP:n..
sprintf(_resultBuffer1, "FP:%lu", _eeprom->getPosition() );
return _resultBuffer1;
case 'H': //Halt Falcon Rotator FH:1
_motor->stopMotor();
return "FH:1";
case 'R': //Print 1 if rotator is running, Print 0 if rotator is idle - FR:1 or FR:0
sprintf(_resultBuffer1, "FR:%c", _motor->isMoving() ? '1' : '0' );
return _resultBuffer1;
case 'N': //Reverse Motor (1 = reverse, 0 = normal), One off setting – stored in EEPROM - FN:1 or FN:0
_eeprom->setReverseDirection(atoi(commandParam));
sprintf(_resultBuffer1, "FN:%c", _eeprom->getReverseDirection() ? '1' : '0' );
return _resultBuffer1;
case 'F': //Reload Rotator Firmware
return "FR_OK";
}
}
else if( command[0] == 'V' && command[1] == 'S' ) { //Report input voltage in raw format - VS:n..
return "VS:0";
}
else if( command[0] == 'D' && command[1] == 'R' ) { //Enable Derotation. Provided number is the derotation time (in millisec) interval per step e.g (1 step per 1000 millisec) (DR:0 disables derotation) - DR:nn..
return "DR:0";
}
else if( command[0] == 'S' && command[1] == 'D' ) { //Set Degrees: Set New position in degrees as the actual rotator position (without turning rotator) - SD:nn.nn
deg = atof( commandParam );
steps = this->degToSteps( deg );
maxSteps = (this->getStepsPerDeg() * 360.0f);
_eeprom->syncPosition( steps );
_eeprom->setMaxPosition( maxSteps );
_eeprom->setMaxMovement( maxSteps );
dtostrf( this->stepsToDeg( steps ), 1, 2, _resultBuffer2 );
sprintf(_resultBuffer1, "SD:%s", _resultBuffer2 );
return _resultBuffer1;
}
else if( command[0] == 'M' && command[1] == 'D' ) { //Move to Degrees: Move motor to new degrees. (accepts a decimal number e.g 33.55) - MD:nn.nn
deg = atof( commandParam );
steps = this->degToSteps( deg );
_eeprom->setTargetPosition( steps );
_motor->applyStepMode();
_motor->startMotor();
dtostrf( this->stepsToDeg( steps ), 1, 2, _resultBuffer2);
sprintf(_resultBuffer1, "MD:%s", _resultBuffer2 );
return _resultBuffer1;
}
else if( command[0] == 'M' && command[1] == 'S' ) { //Move to Position: Move motor to new position MS:nn.. - MS:nn..
steps = strtoul(commandParam, NULL, 10);
_eeprom->setTargetPosition( steps );
_motor->applyStepMode();
_motor->startMotor();
sprintf(_resultBuffer1, "MS:%lu", _eeprom->getTargetPosition() );
return _resultBuffer1;
}
return "FR_INVALID_CMD";
}
