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Merged
merged 9 commits into from
Mar 8, 2025
Merged

Guiding and perf fixes #261

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2b685bd
WIP - Updates
ClutchplateDude Feb 7, 2025
672790f
Ignore guide pulse at tracking limits
ClutchplateDude Feb 21, 2025
d801663
Merge branch 'develop' into guiding-fixes
ClutchplateDude Feb 21, 2025
9a6e776
V1.13.14 - Updates
ClutchplateDude Feb 21, 2025
68e4c5a
Lint fixes
ClutchplateDude Feb 21, 2025
f4a25be
Fixed comments and simplified expression
ClutchplateDude Mar 4, 2025
5d50038
Revert coordinate updates on guiding
ClutchplateDude Mar 7, 2025
8697620
More fixes
ClutchplateDude Mar 7, 2025
07231ad
PR Feedback
ClutchplateDude Mar 8, 2025
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6 changes: 5 additions & 1 deletion Changelog.md
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Original file line number Diff line number Diff line change
@@ -1,3 +1,8 @@
**V1.13.14 - Updates**
- Improved Serial command handling (made it less 'blocking'), which should improve general performance
- Guiding now updates RA/DEC coordinates
- Guide pulses are ignored when tracking is disabled (for example, when at the limits)

**V1.13.13 - Updates**
- Improved Meade command documentation
- Fixed a bug that was not correctly showing the stepper direction in the :GX# command reply./
Expand Down Expand Up @@ -44,7 +49,6 @@ NOTE: Make sure to do a Factory Reset when using this version.
- Lowered ESP32 second core priority
- Added support for informational display
- You must upgrade to OATControl V1.1.2.0 to use with this version (at least if you want to use teh DEC park/unpark feature)

**V1.13.2 - Updates**
- Fix for RA steps being incorrectly set on every boot.

Expand Down
2 changes: 1 addition & 1 deletion Version.h
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Expand Up @@ -3,4 +3,4 @@
// Also, numbers are interpreted as simple numbers. _ __ _
// So 1.8 is actually 1.08, meaning that 1.12 is a later version than 1.8. \_(..)_/

#define VERSION "V1.13.13"
#define VERSION "V1.13.14"
5 changes: 3 additions & 2 deletions src/MeadeCommandProcessor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -626,7 +626,7 @@ bool gpsAqcuisitionComplete(int &indicator); // defined in c72_menuHA_GPS.hpp
// Information:
// This stops all motors, including tracking. Note that deceleration curves are still followed.
// Returns:
// "1" when all motors have stopped
// nothing
//
// :Qd#
// Description:
Expand Down Expand Up @@ -1521,6 +1521,7 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd)
/////////////////////////////
String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
{
LOG(DEBUG_MEADE, "[MEADE]: Process Move command: [%s]", inCmd.c_str());
if (inCmd[0] == 'S') // :MS#
{
_mount->startSlewingToTarget();
Expand Down Expand Up @@ -2203,7 +2204,7 @@ String MeadeCommandProcessor::processCommand(String inCmd)
{
if (inCmd[0] == ':')
{
LOG(DEBUG_MEADE, "[MEADE]: Received command '%s'", inCmd.c_str());
LOG(DEBUG_MEADE, "[MEADE]: Received command '%s'", inCmd.c_str());

// Apparently some LX200 implementations put spaces in their commands..... remove them with impunity.
int spacePos;
Expand Down
179 changes: 106 additions & 73 deletions src/Mount.cpp
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Expand Up @@ -1566,11 +1566,28 @@ void Mount::stopGuiding(bool ra, bool dec)
// Stop RA guide first, since it's just a speed change back to tracking speed
if (ra && (_mountStatus & STATUS_GUIDE_PULSE_RA))
{
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: stopGuide: RA set speed : %f (at %l)",
_trackingSpeed,
_stepperTRK->currentPosition());
long raStepsDuringGuide = _stepperTRK->currentPosition() - _stepperTrkPosAtGuideStart;
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: TRK stop guide at : %l", _stepperTRK->currentPosition());
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: TRK steps moved : %l", raStepsDuringGuide);
long extraSteps = 0;
if (_stepperTRK->speed() < _trackingSpeed)
{
// EAST (1.5x), faster so we need 1/3 of the steps
extraSteps = -((1.0 / (2.0 - RA_PULSE_MULTIPLIER)) - 1.0) * raStepsDuringGuide;
}
else
{
// WEST (0.5)
extraSteps = (1.0 - (1.0 / RA_PULSE_MULTIPLIER)) * raStepsDuringGuide;
}
_stepperTRK->setSpeed(_trackingSpeed);

// Calculate the extra steps moved during guiding on top of tracking and convert from TRK stepper to RA stepper
extraSteps *= RA_SLEW_MICROSTEPPING / RA_TRACKING_MICROSTEPPING;
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: RA extra steps : %l", extraSteps);
// Adjust RA coordinate by the amount of steps moved during guiding
_stepperRA->setCurrentPosition(_stepperRA->currentPosition() + extraSteps);

_mountStatus &= ~STATUS_GUIDE_PULSE_RA;
}

Expand All @@ -1586,8 +1603,12 @@ void Mount::stopGuiding(bool ra, bool dec)
_stepperGUIDE->run();
_stepperTRK->runSpeed();
}
long decStepsDuringGuide = _stepperGUIDE->currentPosition() - _stepperGuidePosAtGuideStart;

LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: DEC stopped at : %l", _stepperGUIDE->currentPosition());
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: DEC steps moved : %l", decStepsDuringGuide);
// Adjust DEC coordinate by the amount of steps moved during guiding
_stepperDEC->setCurrentPosition(_stepperDEC->currentPosition()
+ decStepsDuringGuide * DEC_SLEW_MICROSTEPPING / DEC_GUIDE_MICROSTEPPING);
_mountStatus &= ~STATUS_GUIDE_PULSE_DEC;
}

Expand All @@ -1613,84 +1634,95 @@ void Mount::guidePulse(byte direction, int duration)
#if (DEBUG_LEVEL != DEBUG_NONE)
const char *directionName = "-NE-S---W";
#endif
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms", directionName[direction], duration);
if ((direction == NORTH) || (direction == SOUTH))
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms requested", directionName[direction], duration);
if (!isSlewingTRK())
{
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC current steps : %l", _stepperGUIDE->currentPosition());
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC steps/deg : %f", _stepsPerDECDegree);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: DEC Microstep ratio : %f",
(DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: Not tracking (at limit?), ignoring guide pulse");
}
else
{
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA current steps : %l", _stepperTRK->currentPosition());
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA steps/deg : %f", _stepsPerRADegree);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: RA Microstep ratio : %f",
(RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
}
if ((direction == NORTH) || (direction == SOUTH))
{
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC current steps : %l", _stepperGUIDE->currentPosition());
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC steps/deg : %f", _stepsPerDECDegree);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: DEC Microstep ratio : %f",
(1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
}
else
{
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA current steps : %l", _stepperTRK->currentPosition());
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA steps/deg : %f", _stepsPerRADegree);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: RA Microstep ratio : %f",
(1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
}

// DEC stepper moves at sidereal rate in both directions
// RA stepper moves at either 2.5x sidereal rate or 0.5x sidereal rate.
// Also compensate for microstepping mode change between slew & guiding/tracking
float decGuidingSpeed = _stepsPerDECDegree * (DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
float raGuidingSpeed = _stepsPerRADegree * (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * siderealDegreesInHour
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
// DEC stepper moves at sidereal rate in both directions
// RA stepper moves at either 2.5x sidereal rate or 0.5x sidereal rate.
// Also compensate for microstepping mode change between slew & guiding/tracking
float decGuidingSpeed = _stepsPerDECDegree * (1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
float raGuidingSpeed = _stepsPerRADegree * (1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * siderealDegreesInHour
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec

// TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
// If so, we need to remember where we were when we started the guide pulse. Then at the end,
// we can calculate the difference. Ignore DEC Guide for now.
// TODO: Take guide pulses on DEC into account
// TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
// If so, we need to remember where we were when we started the guide pulse. Then at the end,
// we can calculate the difference. Ignore DEC Guide for now.
// TODO: Take guide pulses on DEC into account

switch (direction)
{
case NORTH:
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC guide speed : %f", DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
_guideDecEndTime = millis() + duration;
break;
switch (direction)
{
case NORTH:
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: DEC guide speed : %f",
DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
_guideDecEndTime = millis() + duration;
break;

case SOUTH:
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC guide speed : %f", -DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
_guideDecEndTime = millis() + duration;
break;
case SOUTH:
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: DEC guide speed : %f",
-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
_guideDecEndTime = millis() + duration;
break;

case WEST:
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
raGuidingSpeed *= _trackingSpeedCalibration;
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
(RA_PULSE_MULTIPLIER * raGuidingSpeed),
RA_PULSE_MULTIPLIER);
_stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed); // Faster than siderael
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
_guideRaEndTime = millis() + duration;
break;
case WEST:
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
raGuidingSpeed *= _trackingSpeedCalibration;
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
(RA_PULSE_MULTIPLIER * raGuidingSpeed),
RA_PULSE_MULTIPLIER);
_stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed); // Faster than siderael
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
_guideRaEndTime = millis() + duration;
break;

case EAST:
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
raGuidingSpeed *= _trackingSpeedCalibration;
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
(2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
(2.0 - RA_PULSE_MULTIPLIER));
_stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER)); // Slower than siderael
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
_guideRaEndTime = millis() + duration;
break;
case EAST:
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
raGuidingSpeed *= _trackingSpeedCalibration;
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
(2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
(2.0 - RA_PULSE_MULTIPLIER));
_stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER)); // Slower than siderael
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
_guideRaEndTime = millis() + duration;
break;
}
}
// Since we will not be updating the display during a guide pulse, update the display here.
#if INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE
Expand Down Expand Up @@ -2992,6 +3024,7 @@ void Mount::loop()
bool stopDecGuiding = (now > _guideDecEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_DEC);
if (stopRaGuiding || stopDecGuiding)
{
LOG(DEBUG_GUIDE, "[MOUNT]: Loop: StopGuiding. Now: %l, RA End: %l, DEC End: %l", now, _guideRaEndTime, _guideDecEndTime);
stopGuiding(stopRaGuiding, stopDecGuiding);
}
else
Expand Down
2 changes: 2 additions & 0 deletions src/Mount.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -654,6 +654,8 @@ class Mount

unsigned long _guideRaEndTime;
unsigned long _guideDecEndTime;
long _stepperGuidePosAtGuideStart;
long _stepperTrkPosAtGuideStart;
unsigned long _lastMountPrint = 0;
float _trackingSpeed; // RA u-steps/sec when in tracking mode
float _trackingSpeedCalibration; // Dimensionless, very close to 1.0
Expand Down
22 changes: 11 additions & 11 deletions src/b_setup.hpp
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Expand Up @@ -357,7 +357,6 @@ void setup()
// Set the stepper motor parameters
#if (RA_STEPPER_TYPE != STEPPER_TYPE_NONE)
LOG(DEBUG_ANY, "[STEPPERS]: Configure RA stepper NEMA.");
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", RA_STEPPER_SPR);
LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", RA_SLEW_MICROSTEPPING);
LOG(DEBUG_ANY, "[STEPPERS]: Trk Microsteps : %d", RA_TRACKING_MICROSTEPPING);
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", RA_STEPPER_SPR);
Expand All @@ -381,17 +380,18 @@ void setup()

#if (DEC_STEPPER_TYPE != STEPPER_TYPE_NONE)
LOG(DEBUG_ANY, "[STEPPERS]: Configure DEC stepper NEMA.");
LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", DEC_SLEW_MICROSTEPPING);
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", DEC_STEPPER_SPR);
LOG(DEBUG_ANY, "[STEPPERS]: Transmission : %f", DEC_TRANSMISSION);
LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", DEC_SLEW_MICROSTEPPING);
LOG(DEBUG_ANY, "[STEPPERS]: Guide Microsteps : %d", DEC_GUIDE_MICROSTEPPING);
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", DEC_STEPPER_SPR);
LOG(DEBUG_ANY, "[STEPPERS]: Transmission : %f", DEC_TRANSMISSION);
#ifdef NEW_STEPPER_LIB
LOG(DEBUG_ANY, "[STEPPERS]: Driver Slew SPR : %l", config::Dec::DRIVER_SPR_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: Driver Trk SPR : %l", config::Dec::DRIVER_SPR_TRK);
LOG(DEBUG_ANY, "[STEPPERS]: SPR Slew : %f", config::Dec::SPR_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: SPR Trk : %f", config::Dec::SPR_TRK);
LOG(DEBUG_ANY, "[STEPPERS]: Speed Slew : %f", config::Dec::SPEED_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: Accel Slew : %f", config::Dec::ACCEL_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: Speed Trk : %f", config::Dec::SPEED_TRK);
LOG(DEBUG_ANY, "[STEPPERS]: Driver Slew SPR : %l", config::Dec::DRIVER_SPR_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: Driver Trk SPR : %l", config::Dec::DRIVER_SPR_TRK);
LOG(DEBUG_ANY, "[STEPPERS]: SPR Slew : %f", config::Dec::SPR_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: SPR Trk : %f", config::Dec::SPR_TRK);
LOG(DEBUG_ANY, "[STEPPERS]: Speed Slew : %f", config::Dec::SPEED_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: Accel Slew : %f", config::Dec::ACCEL_SLEW);
LOG(DEBUG_ANY, "[STEPPERS]: Speed Trk : %f", config::Dec::SPEED_TRK);
LOG(DEBUG_ANY, "[STEPPERS]: Configure DEC stepper NEMA...");
mount.configureDECStepper(DECmotorPin1, DECmotorPin2, config::Dec::SPEED_SLEW, config::Dec::ACCEL_SLEW);
#else
Expand Down
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