internal static void StartSlew(double targetRAEncoder, double targetDECEncoder, double currentRAEncoder, double currentDECEncoder)
{
int DeltaRAStep = 0;
int DeltaDECStep = 0;
try
{
// calculate relative amount to move
DeltaRAStep = Convert.ToInt32(Math.Abs(targetRAEncoder - currentRAEncoder));
DeltaDECStep = Convert.ToInt32(Math.Abs(targetDECEncoder - currentDECEncoder));
if (DeltaRAStep != 0)
{
// Compensate for the smallest discrepancy after the final slew
if (EQMath.gTrackingStatus > 0)
{
if (targetRAEncoder > currentRAEncoder)
{
if (EQMath.gHemisphere == 0)
{
DeltaRAStep += gRA_Compensate;
}
else
{
DeltaRAStep -= gRA_Compensate;
}
}
else
{
if (EQMath.gHemisphere == 0)
{
DeltaRAStep -= gRA_Compensate;
}
else
{
DeltaRAStep += gRA_Compensate;
}
}
if (DeltaRAStep < 0)
{
DeltaRAStep = 0;
}
}
if (targetRAEncoder > currentRAEncoder)
{
gGotoParams.RA_Direction = 0;
switch (gGotoParams.rate)
{
case 0:
// let mount decide on slew rate
gGotoParams.RA_SlewActive = 0;
EQMath.eqres = Common.EQStartMoveMotor(0, 0, 0, DeltaRAStep, Convert.ToInt32(EQMath.GetSlowdown(DeltaRAStep)));
break;
default:
gGotoParams.RA_SlewActive = 1;
EQMath.eqres = UpgradeSolution1Support.PInvoke.SafeNative.eqcontrl.EQ_Slew(0, 0, 0, Convert.ToInt32(gGotoParams.rate));
break;
}
}
else
{
gGotoParams.RA_Direction = 1;
switch (gGotoParams.rate)
{
case 0:
gGotoParams.RA_SlewActive = 0;
EQMath.eqres = Common.EQStartMoveMotor(0, 0, 1, DeltaRAStep, Convert.ToInt32(EQMath.GetSlowdown(DeltaRAStep)));
break;
default:
gGotoParams.RA_SlewActive = 1;
EQMath.eqres = UpgradeSolution1Support.PInvoke.SafeNative.eqcontrl.EQ_Slew(0, 0, 1, Convert.ToInt32(gGotoParams.rate));
break;
}
}
}
if (DeltaDECStep != 0)
{
if (targetDECEncoder > currentDECEncoder)
{
gGotoParams.DEC_Direction = 0;
switch (gGotoParams.rate)
{
case 0:
// let mount decide on slew rate
gGotoParams.DEC_SlewActive = 0;
EQMath.eqres = Common.EQStartMoveMotor(1, 0, 0, DeltaDECStep, Convert.ToInt32(EQMath.GetSlowdown(DeltaDECStep)));
break;
default:
gGotoParams.DEC_SlewActive = 1;
EQMath.eqres = UpgradeSolution1Support.PInvoke.SafeNative.eqcontrl.EQ_Slew(1, 0, 0, Convert.ToInt32(gGotoParams.rate));
break;
}
}
else
{
gGotoParams.DEC_Direction = 1;
switch (gGotoParams.rate)
{
case 0:
// let mount decide on slew rate
gGotoParams.DEC_SlewActive = 0;
EQMath.eqres = Common.EQStartMoveMotor(1, 0, 1, DeltaDECStep, Convert.ToInt32(EQMath.GetSlowdown(DeltaDECStep)));
break;
default:
gGotoParams.DEC_SlewActive = 1;
EQMath.eqres = UpgradeSolution1Support.PInvoke.SafeNative.eqcontrl.EQ_Slew(1, 0, 1, Convert.ToInt32(gGotoParams.rate));
break;
}
}
}
// Activate Asynchronous Slew Monitoring Routine
EQMath.gRAStatus = Common.EQ_MOTORBUSY;
EQMath.gDECStatus = Common.EQ_MOTORBUSY;
EQMath.gRAStatus_slew = false;
}
catch
{
}
EQMath.gSlewStatus = true;
}