//public void Park()
//{
// tl.LogMessage("Park", "Not implemented");
// throw new ASCOM.MethodNotImplementedException("Park");
//}
public void PulseGuide(GuideDirections Direction, int Duration)
{
//Command: “:MnXXXXX#” “:MsXXXXX#” “:MeXXXXX#” “:MwXXXXX#”
//Response: (none)
//Command motion for XXXXX milliseconds in the direction specified at the currently selected guide
//rate. If XXXXX has a value of zero, motion is continuous and requires a “:Mx00000#” command
//to terminate.x is the same direction of the previous command.
// XXXXX is in the range of 0 to 32767.
pulseGuiding = true;
String MoveDurationCommand;
String XXXXX = Duration.ToString().PadLeft(5, '0');
switch (Direction)
{
case ASCOM.DeviceInterface.GuideDirections.guideEast:
MoveDurationCommand = ":Me" + XXXXX + "#";
break;
case ASCOM.DeviceInterface.GuideDirections.guideNorth:
MoveDurationCommand = ":Mn" + XXXXX + "#";
break;
case ASCOM.DeviceInterface.GuideDirections.guideSouth:
MoveDurationCommand = ":Ms" + XXXXX + "#";
break;
case ASCOM.DeviceInterface.GuideDirections.guideWest:
MoveDurationCommand = ":Mw" + XXXXX + "#";
break;
default:
MoveDurationCommand = "";
break;
}
if (MoveDurationCommand != "")
{
var MoveDurationTransaction = new ZEQ25NoReplyTransaction(MoveDurationCommand);
Task.Run(() => transactionProcessor.CommitTransaction(MoveDurationTransaction));
log.Info("Waiting for move command completion");
MoveDurationTransaction.WaitForCompletionOrTimeout();
Thread.Sleep(Duration);
}
pulseGuiding = false;
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
// When the motion is stopped by setting the rate to zero the scope will be set to the previous TrackingRate
// or to no movement, depending on the state of the Tracking property.
// iOptron ZEQ25 mount takes care of this.
// StopMovingTransaction should execute before setting isMoving to false
isMoving = (Rate != 0) || isMoving;
//Command: “:SRn#”
//Response: “1”
//Sets the moving rate used for the N-S-E-W buttons.
// For n, specify an integer from 1 to 9.
// 1 stands for 1x sidereal tracking rate, 2 stands for 2x,
// 3 stands for 8x, 4 stands for 16x, 5 stands for 64x,
// 6 stands for 128x, 7 stands for 256x, 8 stands for 512x,
// 9 stands for maximum speed(larger than 512x).
//Command: “:mn#” “:me#” “:ms#” “:mw#”
//Response: (none)
log.Info("MoveAxis Axis: {0}", Axis);
log.Info("MoveAxis Rate: {0}", Rate);
String SetRateCommand;
String MoveCommand;
bool response = false;
int direction = Math.Sign(Rate);
int speed = (int)(Math.Abs(Rate) / SiderealRateDPS);
int speed_int = speed;
// Round up to nearest power of 2 using bitwise method
speed--;
speed |= speed >> 1; // divided by 2
speed |= speed >> 2; // divided by 4
speed |= speed >> 4; // divided by 16
speed |= speed >> 8; // divided by 256
speed |= speed >> 16; // divided by 65536
speed++; // next power of 2
// Note: 4x and 32x are not supported so will need to be ignored or substituted
int x = speed >> 1; // previous power of 2
// next power of 2 - requested speed (proximity to next power of 2)
// requested speed - previous power of 2 (proximity to previous power of 2)
// set speed_power to nearest power of 2
int speed_power = (speed - speed_int) > (speed_int - x) ? x : speed;
log.Info("MoveAxis, Speed: {0} x SiderealRateDPS", speed);
switch (speed_power)
{
case (0):
var StopMovingTransaction = new ZEQ25NoReplyTransaction(":q#");
Task.Run(() => transactionProcessor.CommitTransaction(StopMovingTransaction));
StopMovingTransaction.WaitForCompletionOrTimeout();
isMoving = false;
return;
case (1):
SetRateCommand = ":SR1#";
break;
case (2):
SetRateCommand = ":SR2#";
break;
case (4):
SetRateCommand = ":SR2#"; // 4x not supported set to 2x instead
break;
case (8):
SetRateCommand = ":SR3#";
break;
case (16):
SetRateCommand = ":SR4#";
break;
case (32):
SetRateCommand = ":SR4#"; // 32x not supported set to 16x instead
break;
case (64):
SetRateCommand = ":SR5#";
break;
case (128):
SetRateCommand = ":SR6#";
break;
case (256):
SetRateCommand = ":SR7#";
break;
case (512):
SetRateCommand = ":SR8#";
break;
case (1024):
SetRateCommand = ":SR9#";
break;
default:
SetRateCommand = ":SR1#";
break;
}
var SetRateTransaction = new ZEQ25BooleanTransaction(SetRateCommand)
{
Timeout = TimeSpan.FromSeconds(2)
};
Task.Run(() => transactionProcessor.CommitTransaction(SetRateTransaction));
log.Info("Waiting for set rate command completion");
SetRateTransaction.WaitForCompletionOrTimeout();
response = SetRateTransaction.Value;
if (response == false)
{
log.Info("MoveAxis", "Error setting speed!");
return;
}
switch (Axis)
{
case TelescopeAxes.axisPrimary:
// East is positive
MoveCommand = (direction == 1) ? ":me#" : ":mw#";
break;
case TelescopeAxes.axisSecondary:
// North is positive if pierSide is pierEast
MoveCommand = (direction == 1) ? ":mn#" : ":ms#";
// Not inverting axis intentionally to avoid problems near pole
break;
default:
// Not expected!
return;
}
var MoveTransaction = new ZEQ25NoReplyTransaction(MoveCommand);
Task.Run(() => transactionProcessor.CommitTransaction(MoveTransaction));
log.Info("Waiting for move command completion");
MoveTransaction.WaitForCompletionOrTimeout();
if (MoveTransaction.Failed)
{
log.Info("MoveTransaction Failed!");
}
}