//actual watchdog pulse generator
private void timer_Tick()
{
WatchdoLoopcount++;
if (WatchdoLoopcount > 19)
{
WatchdoLoopcount = 0;
}
int bitState = (WatchdoLoopcount) % 5 > 0 ? 1 : 0; //1:5 duty cycle
lock (this.dev)
{
this.dev.OutputBit(4, 0, bitState);
}
if (WatchdoLoopcount == 0)
{
if (dev.Connected && state == DishState.Stopped)
{
if (azCommand == -1.0)
{
//initialize old value in lowpass filter so
//it doesn't take too long to settle on startup
azPos = azEncoder.countsToDegrees(0);
elPos = elEncoder.countsToDegrees(0);
}
azPos = azReadPosition();
elPos = elReadPosition();
if (azCommand == -1.0)
{
azCommand = azPos;
elCommand = elPos;
GeoAngle mAzAngle = GeoAngle.FromDouble(azCommand, true);
GeoAngle mElAngle = GeoAngle.FromDouble(elCommand);
this.commandAz.Text = string.Format("{0} : {1}", mAzAngle.Degrees, mAzAngle.Minutes);
this.commandEl.Text = string.Format("{2}{0} : {1}", mElAngle.Degrees, mElAngle.Minutes, mElAngle.IsNegative ? "-" : "");
}
}
}
if (state != DishState.Stopped && state != DishState.Unknown)
{
if (azPid.Complete && elPid.Complete)
{
this.Stop();
}
}
}
public static GeoAngle FromDouble(double angleInDegrees, bool range360 = false)
{
//ensure the value will fall within the primary range [-180.0..+180.0]
if (!range360)
{
while (angleInDegrees < -180.0)
{
angleInDegrees += 360.0;
}
while (angleInDegrees > 180.0)
{
angleInDegrees -= 360.0;
}
}
else
{
while (angleInDegrees < 0.0)
{
angleInDegrees += 360.0;
}
while (angleInDegrees > 360.0)
{
angleInDegrees -= 360.0;
}
}
var result = new GeoAngle();
//switch the value to positive
result.IsNegative = angleInDegrees < 0;
angleInDegrees = Math.Abs(angleInDegrees);
//gets the degree
result.Degrees = (int)Math.Floor(angleInDegrees);
var delta = angleInDegrees - result.Degrees;
//gets minutes and seconds
result.Minutes = (int)Math.Floor(delta * 60.0);
double seconds = 3600.0 * delta;
result.Seconds = seconds % 60.0;
return(result);
}
public static GeoAngle FromString(string point)
{
var multiplier = (point.Contains("S") || point.Contains("W")) ? -1 : 1; //handle south and west
point = Regex.Replace(point, "[^0-9. :]", ""); //remove the characters
var pointArray = point.Split(new char [] { ':' }); //split the string.
for (int i = 0, j = pointArray.Length; i < j; i++)
{
pointArray[i] = Regex.Replace(pointArray[i], "[^0-9. ]", ""); //remove the characters
}
//Decimal degrees =
// whole number of degrees,
// plus minutes divided by 60,
// plus seconds divided by 3600
var result = new GeoAngle();
int d = 0;
Int32.TryParse(pointArray[0], out d);
result.Degrees = d;
d = 0;
if (pointArray.Length > 1)
{
Int32.TryParse(pointArray[1], out d);
}
result.Minutes = d;
double dd = 0;
if (pointArray.Length > 2)
{
double.TryParse(pointArray[2], out dd);
}
result.Seconds = dd;
if (multiplier < 0)
{
result.IsNegative = true;
}
else
{
result.IsNegative = false;
}
return(result);
}
private void presetSelector_SelectedIndexChanged(object sender, EventArgs e)
{
int item = presetSelector.SelectedIndex;
if (item != 0)
{
this.azCommand = this.Presets[item].Az;
this.elCommand = this.Presets[item].El;
GeoAngle mAzAngle = GeoAngle.FromDouble(azCommand, true);
GeoAngle mElAngle = GeoAngle.FromDouble(elCommand);
this.commandAz.Text = string.Format("{0} : {1}", mAzAngle.Degrees, mAzAngle.Minutes);
this.commandEl.Text = string.Format("{0} : {1}", mElAngle.Degrees, mElAngle.Minutes);
RaDec astro = celestialConversion.CalcualteRaDec(mElAngle.ToDouble(), mAzAngle.ToDouble(), settings.latitude, settings.longitude);
GeoAngle Dec = GeoAngle.FromDouble(astro.Dec);
GeoAngle RA = GeoAngle.FromDouble(astro.RA, true);
this.commandRA.Text = string.Format("{0:D3} : {1:D2}", RA.Degrees, RA.Minutes);
this.commandDec.Text = string.Format("{0:D2} : {1:D2}", Dec.Degrees, Dec.Minutes);
}
}
private void SouthPark_Click(object sender, EventArgs e)
{
azCommand = settings.azSouthPark;
elCommand = settings.elSouthPark;
GeoAngle mAzAngle = GeoAngle.FromDouble(azCommand, true);
GeoAngle mElAngle = GeoAngle.FromDouble(elCommand);
this.commandAz.Text = string.Format("{0} : {1}", mAzAngle.Degrees, mAzAngle.Minutes);
this.commandEl.Text = string.Format("{0} : {1}", mElAngle.Degrees, mElAngle.Minutes);
RaDec astro = celestialConversion.CalcualteRaDec(mElAngle.ToDouble(), mAzAngle.ToDouble(), settings.latitude, settings.longitude);
GeoAngle Dec = GeoAngle.FromDouble(astro.Dec);
GeoAngle RA = GeoAngle.FromDouble(astro.RA, true);
this.commandRA.Text = string.Format("{0:D3} : {1:D2}", RA.Degrees, RA.Minutes);
this.commandDec.Text = string.Format("{0:D2} : {1:D2}", Dec.Degrees, Dec.Minutes);
this.state = DishState.Parking;;
azPid.Enable();
elPid.Enable();
}
private void commandAz_TextChanged(object sender, EventArgs e)
{
azCommand = GeoAngle.FromString(commandAz.Text).ToDouble();
}
//update position display
private void updatePosition()
{
if ((DateTime.Now - messageTime).TotalSeconds > 30)
{
Message.Text = "";
}
//read actual form encoders
//if (dev.Connected && state == DishState.Stopped)
//{
// azPos = azReadPosition();
// elPos = elReadPosition();
//}
//set up display variables in deg, min, sec format
GeoAngle AzAngle = GeoAngle.FromDouble(azPos, true);
GeoAngle ElAngle = GeoAngle.FromDouble(elPos);
//convert to RA/DEC
RaDec astro = celestialConversion.CalcualteRaDec(elPos, azPos, settings.latitude, settings.longitude);
//set up RA DEC as deg,min,sec
GeoAngle Dec = GeoAngle.FromDouble(astro.Dec);
GeoAngle RA = GeoAngle.FromDouble(astro.RA, true);
//log position every tenth time through
string posLog = string.Format("RA {0:D3} : {1:D2}\t DEC {2:D3} : {3:D2}", RA.Degrees, RA.Minutes, Dec.Degrees, Dec.Minutes);
currentIncrement++;
if (currentIncrement % 9 == 0)
{
RollingLogger.LogMessage(posLog);
currentIncrement = 0;
}
//show AZ, EL on main form
this.Azimuth.Text = string.Format("{0:D3} : {1:D2}", AzAngle.Degrees, AzAngle.Minutes);
this.Elevation.Text = string.Format("{0:D2} : {1:D2}", ElAngle.Degrees, ElAngle.Minutes);
//show RA,DEC on main form
this.RA.Text = string.Format("{0:D3} : {1:D2}", RA.Degrees, RA.Minutes);
this.DEC.Text = string.Format("{0:D2} : {1:D2}", Dec.Degrees, Dec.Minutes);
//if celestial track is set, check to make sure command position is above horizon if so then enable motion
//probably have to have a completely seperate velocity track loop here - PID loop may not be satisfactor
//-----NEEDS TESTING
if (trackCelestial)
{
AltAz aa = celestialConversion.CalculateAltAz(RAcommand, decCommand, settings.latitude, settings.longitude);
if (aa.Alt < 0)
{
Message.Text = "Requested position is below horizon!";
trackMoon = false;
messageTime = DateTime.Now;
trackCelestial = false;
}
GeoAngle cAzAngle = GeoAngle.FromDouble(aa.Az, true);
GeoAngle cElAngle = GeoAngle.FromDouble(aa.Alt);
azCommand = aa.Az;
elCommand = aa.Alt;
this.commandAz.Text = string.Format("{0:D3} : {1:D2}", cAzAngle.Degrees, cAzAngle.Minutes);
this.commandEl.Text = string.Format("{0:D2} : {1:D2}", cElAngle.Degrees, cElAngle.Minutes);
if (state != DishState.Moving && state != DishState.Tracking && aa.Alt > 1.0)
{
this.Go();
}
}
//if Lunar track is set, check to make sure Moon position is above horizon if so then enable motion
//probably have to have a completely seperate velocity track loop here - PID loop may not be satisfactor
//-----NEEDS TESTING
if (trackMoon)
{
SunCalc sc = new SunCalc();
long eDate = sc.epochDate(DateTime.UtcNow);
double jdate = sc.toJulian(eDate);
AltAz aa = sc.getMoonPosition(eDate, settings.latitude, settings.longitude);
if (aa.Alt < 0)
{
Message.Text = "Moon is below horizon!";
trackMoon = false;
messageTime = DateTime.Now;
}
moonRiseSet mrs = sc.getMoonTimes(eDate, settings.latitude, settings.longitude, true);
azCommand = aa.Az;
elCommand = aa.Alt;
GeoAngle mAzAngle = GeoAngle.FromDouble(aa.Az, true);
GeoAngle mElAngle = GeoAngle.FromDouble(aa.Alt);
this.commandAz.Text = string.Format("{0} : {1}", mAzAngle.Degrees, mAzAngle.Minutes);
this.commandEl.Text = string.Format("{2}{0} : {1}", mElAngle.Degrees, mElAngle.Minutes, mElAngle.IsNegative ? "-" : "");
double Alt = elCommand;
if (Alt > 90.0)
{
Alt = Alt - 90.0;
}
RaDec mastro = celestialConversion.CalcualteRaDec(Alt, azCommand, settings.latitude, settings.longitude);
GeoAngle mDec = GeoAngle.FromDouble(mastro.Dec);
GeoAngle mRA = GeoAngle.FromDouble(mastro.RA, true);
this.commandRA.Text = string.Format("{0:D3} : {1:D2}", mRA.Degrees, mRA.Minutes);
this.commandDec.Text = string.Format("{0:D2} : {1:D2}", mDec.Degrees, mDec.Minutes);
if (state != DishState.Moving && state != DishState.Tracking && aa.Alt > 1.0)
{
this.Go();
}
}//trackMoon
//send stop command if we have to here
if (state != DishState.Stopped && state != DishState.Unknown)
{
if (azPid.Complete && elPid.Complete)
{
this.Stop();
}
}
}
private void longitude_TextChanged(object sender, EventArgs e)
{
settings.longitude = GeoAngle.FromString(this.longitude.Text).ToDouble();
}
public Config(Eth32 dev, configModel settings)
{
InitializeComponent();
this.dev = dev;
this.settings = settings;
if (settings.AzimuthEncoderBits != 0)
{
this.latitude.Text = GeoAngle.FromDouble(settings.latitude).ToString("NS");
this.longitude.Text = GeoAngle.FromDouble(settings.longitude).ToString("WE");
this.altitude.Text = settings.altitude.ToString();
this.alpha.Text = settings.alpha.ToString();
this.AzRevsPerRot.Text = settings.AzimuthRevsPerRot.ToString();
this.encBitsAz.Text = settings.AzimuthEncoderBits.ToString();
this.AzStartBit.Text = settings.AzimuthStartBit.ToString();
this.AzOffset.Text = settings.AzimuthOffsetDeg.ToString();
this.ElRevsPerRot.Text = settings.ElevationRevsPerRot.ToString();
this.encBitsEl.Text = settings.ElevationEncoderBits.ToString();
this.ElStartBit.Text = settings.ElevationStartBit.ToString();
this.ElOffset.Text = settings.ElevationOffsetDeg.ToString();
this.encoder_coding.SelectedItem = settings.coding.ToString();
this.cmbETH32.Items.Add(settings.eth32Address);
this.cmbETH32.SelectedItem = settings.eth32Address;
this.outputPort.SelectedItem = settings.outputPort;
this.jogIncrement.Text = settings.jogIncrement.ToString();
this.driveEnableBit.Text = settings.driveEnablebit.ToString();
this.azCBactiveHi.Checked = settings.azActiveHi;
this.azCW_CCW.Checked = settings.azDriveType == driveType.CCW;
this.azEnbDir.Checked = settings.azDriveType == driveType.DirEnable;
this.azBoth.Checked = settings.azDriveType == driveType.Both;
if (settings.azDriveType == driveType.CCW)
{
azCB1.Text = "CW";
azCB2.Text = "CCW";
azCB3.Text = "";
azEnBit.Enabled = false;
}
else if (settings.azDriveType == driveType.DirEnable)
{
azCB1.Text = "Dir";
azCB2.Text = "Enable";
azCB3.Text = "";
azEnBit.Enabled = false;
}
else
{
azCB1.Text = "CW";
azCB2.Text = "CCW";
azCB3.Text = "Enable";
azEnBit.Enabled = true;
}
this.azCWbit.Text = settings.azCWbit.ToString();
this.azCCWbit.Text = settings.azCCWbit.ToString();
this.azEnBit.Text = settings.azEnable.ToString();
this.azPWMch.Text = settings.azPWMchan.ToString();
this.azKd.Text = settings.azKd.ToString();
this.azKi.Text = settings.azKi.ToString();
this.azKp.Text = settings.azKp.ToString();
this.Gain.Text = settings.azG.ToString();
this.azMax.Text = settings.azMax.ToString();
this.azMin.Text = settings.azMin.ToString();
this.azOutMax.Text = settings.azOutMax.ToString();
this.azOutMin.Text = settings.azOutMin.ToString();
this.azPark.Text = settings.azPark.ToString();
this.SouthParkPosAz.Text = settings.azSouthPark.ToString();
this.elCBactiveHi.Checked = settings.elActiveHi;
this.elCW_CCW.Checked = settings.elDriveType == driveType.CCW;
this.elEnbDir.Checked = settings.elDriveType == driveType.DirEnable;
this.elBoth.Checked = settings.elDriveType == driveType.Both;
if (settings.azDriveType == driveType.CCW)
{
elCB1.Text = "CW";
elCB2.Text = "CCW";
elCB3.Text = "";
elEnBit.Enabled = false;
}
else if (settings.azDriveType == driveType.DirEnable)
{
elCB1.Text = "Dir";
elCB2.Text = "Enable";
elCB3.Text = "";
elEnBit.Enabled = false;
}
else
{
elCB1.Text = "CW";
elCB2.Text = "CCW";
elCB3.Text = "Enable";
elEnBit.Enabled = true;
}
this.elCWbit.Text = settings.elCWbit.ToString();
this.elCCWbit.Text = settings.elCCWbit.ToString();
this.elEnBit.Text = settings.elEnable.ToString();
this.elPWMch.Text = settings.elPWMchan.ToString();
this.elKd.Text = settings.elKd.ToString();
this.elKi.Text = settings.elKi.ToString();
this.elKp.Text = settings.elKp.ToString();
this.elMax.Text = settings.elMax.ToString();
this.elMin.Text = settings.elMin.ToString();
this.elOutMax.Text = settings.elOutMax.ToString();
this.elOutMin.Text = settings.elOutMin.ToString();
this.elPark.Text = settings.elPark.ToString();
this.SouthParkPosEl.Text = settings.elSouthPark.ToString();
this.PosLogFile.Text = settings.positionFileLog;
this.maxPosLogSize.Text = settings.maxPosLogSizeBytes.ToString();
this.MaxFiles.Text = settings.maxPosLogFiles.ToString();
this.PS1Name.Text = settings.Preset1Name;
this.PS1Az.Text = settings.Preset1Az.ToString();
this.PS1El.Text = settings.Preset1El.ToString();
this.PS2Name.Text = settings.Preset2Name;
this.PS2Az.Text = settings.Preset2Az.ToString();
this.PS2El.Text = settings.Preset2El.ToString();
this.PS3Name.Text = settings.Preset3Name;
this.PS3Az.Text = settings.Preset3Az.ToString();
this.PS3El.Text = settings.Preset3El.ToString();
this.PS4Name.Text = settings.Preset4Name;
this.PS4Az.Text = settings.Preset4Az.ToString();
this.PS4El.Text = settings.Preset4El.ToString();
this.PS5Name.Text = settings.Preset5Name;
this.PS5Az.Text = settings.Preset5Az.ToString();
this.PS5El.Text = settings.Preset5El.ToString();
}
}
