Merge pull request #55 from CTetford/develop

Reorganize NEMA pins & AutoPA Update

Author: ClutchplateDude

Software/Addons/AutoPA/altaz.py

@@ -4,7 +4,7 @@
 import re
 
 def altaz(axis, errorvalue, serialport):
-	if not re.match(r"^[-+]?([0-9]*\.[0-9]+|[0-9]+)$", errorvalue):
+	if not re.match(r"^[-+]?([0-9]*\.[0-9]+|[0-9]+)$", str(errorvalue)):
 		print("Error value not valid")
 		return
 
@@ -20,9 +20,7 @@ def altaz(axis, errorvalue, serialport):
 		return
 
 	#print(command) #For debugging
-
 	ser = serial.Serial(serialport, 57600, timeout = 1)
-	#commandToSend = ':Sr16:00:00#:MS#'
 	ser.write(str(commandToSend).encode())
 	return
 

Software/Addons/AutoPA/polaralign.py

@@ -6,67 +6,64 @@
 from astropy.utils import iers
 import sys, subprocess
 
-def polarcalc(mylat, mylong, myelev, time, p1RA, p1DEC, p2RA, p2DEC, p3RA, p3DEC):
-	#iers.conf.auto_download = False
-	#iers.conf.auto_max_age = None
-	
-	#Create time object based on given time
-	observing_time = Time('2020-08-10 3:00:05')
-
-	#Create location object based on lat/long/elev
-	observing_location = EarthLocation(lat=mylat*u.deg, lon=mylong*u.deg, height=177*u.m)
-
-	#Create coordinate objects for each point
-	p1 = SkyCoord(p1RA, p1DEC, unit='deg')
-	p2 = SkyCoord(p2RA, p2DEC, unit='deg')
-	p3 = SkyCoord(p3RA, p3DEC, unit='deg')
-	p1X = (90 - p1.dec.degree) * math.cos(p1.ra.radian)
-	p1Y = (90 - p1.dec.degree) * math.sin(p1.ra.radian)
-	p2X = (90 - p2.dec.degree) * math.cos(p2.ra.radian)
-	p2Y = (90 - p2.dec.degree) * math.sin(p2.ra.radian)
-	p3X = (90 - p3.dec.degree) * math.cos(p3.ra.radian)
-	p3Y = (90 - p3.dec.degree) * math.sin(p3.ra.radian)
-
-	#Calculate center of circle using three points in the complex plane. DEC is treated as unitless for the purposes of the calculation.
-	x, y, z = complex(p1X,p1Y), complex(p2X,p2Y), complex(p3X,p3Y)
-	w = z-x
-	w /= y-x
-	c = (x-y)*(w-abs(w)**2)/2j/w.imag-x
-	resultX = -c.real
-	resultY = c.imag
-
-	#Convert X/Y values of circle into RA/DEC
-	resultDEC = (90 - math.sqrt(resultX**2 + resultY**2))
-	resultRA = math.atan2(resultY, resultX)*360 / (2*math.pi)
-	if resultRA < 0:
-			resultRA = (180-abs(resultRA))+180
-
-	#Create coordinate object for current alignment offset
-	offset = SkyCoord(resultRA, resultDEC, frame='icrs', unit='deg')
-	print(f"Current alignment in RA/DEC: {offset.ra.to_string(u.hour, precision=2)}/{offset.dec.to_string(u.deg, precision=2)}.")
-
-	#Create coordinate object for pole
-	pole = SkyCoord(0, 90, frame='icrs', unit='deg')
-	
-	#Create coordinate object for pole
-	poleAzAlt = pole.transform_to(AltAz(obstime=observing_time,location=observing_location))
-	print(f"True polar alignment in Az./Alt.: 0h00m00s/{Angle(mylat*u.degree).to_string(u.degree, sep=('d', 'm', 's'), precision=2)}.")
-
-	#Transform current alignment to Alt/Az coordinate system
-	#offsetAzAlt = offset.transform_to(AltAz(obstime=observing_time,location=observing_location, temperature=25*u.deg_C, pressure=101325*u.Pa, relative_humidity=0.5))
-	offsetAzAlt = offset.transform_to(AltAz(obstime=observing_time,location=observing_location))
-	print(f"Current alignment in Az./Alt.: {offsetAzAlt.az.to_string(u.hour, precision=2)}/{offsetAzAlt.alt.to_string(u.deg, precision=2)}.")
-
-	#Calculate offset deltas from pole
-	if offsetAzAlt.az.deg < 180:
-		errorAz = -offsetAzAlt.az.deg*60
-	else:
-		errorAz = (360-offsetAzAlt.az.deg)*60
-	print(f"Azimuth error correction is: {errorAz:.4f} arcminutes.")
-	errorAlt = (mylat - offsetAzAlt.alt.deg)*60
-	print(f"Altitude error correction is: {errorAlt:.4f} arcminutes.")
-	
-	return errorAz, errorAlt
+def polarcalc(mylat, mylong, myelev, observing_time, p1RA, p1DEC, p2RA, p2DEC, p3RA, p3DEC):
+    #iers.conf.auto_download = False
+    #iers.conf.auto_max_age = None
+    
+    #Create time object based on given time
+    observing_time = Time(observing_time)
+
+    #Create location object based on lat/long/elev
+    observing_location = EarthLocation(lat=mylat*u.deg, lon=mylong*u.deg, height=myelev*u.m)
+
+    #Create coordinate objects for each point
+    p1 = SkyCoord(p1RA, p1DEC, unit='deg')
+    p2 = SkyCoord(p2RA, p2DEC, unit='deg')
+    p3 = SkyCoord(p3RA, p3DEC, unit='deg')
+    p1X = (90 - p1.dec.degree) * math.cos(p1.ra.radian)
+    p1Y = (90 - p1.dec.degree) * math.sin(p1.ra.radian)
+    p2X = (90 - p2.dec.degree) * math.cos(p2.ra.radian)
+    p2Y = (90 - p2.dec.degree) * math.sin(p2.ra.radian)
+    p3X = (90 - p3.dec.degree) * math.cos(p3.ra.radian)
+    p3Y = (90 - p3.dec.degree) * math.sin(p3.ra.radian)
+
+    #Calculate center of circle using three points in the complex plane. DEC is treated as unitless for the purposes of the calculation.
+    x, y, z = complex(p1X,p1Y), complex(p2X,p2Y), complex(p3X,p3Y)
+    w = z-x
+    w /= y-x
+    c = (x-y)*(w-abs(w)**2)/2j/w.imag-x
+    resultX = -c.real
+    resultY = c.imag
+
+    #Convert X/Y values of circle into RA/DEC
+    resultDEC = (90 - math.sqrt(resultX**2 + resultY**2))
+    resultRA = math.atan2(resultY, resultX)*360 / (2*math.pi)
+    if resultRA < 0:
+            resultRA = (180-abs(resultRA))+180
+
+    #Create coordinate object for current alignment offset
+    offset = SkyCoord(resultRA, resultDEC, frame='itrs', unit='deg', representation_type='spherical', obstime=Time(observing_time))
+    print(f"Current alignment in RA/DEC: {Angle(resultRA*u.deg).to_string(u.hour, precision=2)}/{Angle(resultDEC*u.deg).to_string(u.degree, precision=2)}.")
+
+    #Create coordinate object for pole
+    pole = SkyCoord(0, 90, frame='itrs', unit='deg', representation_type='spherical', obstime=Time(observing_time))
+    
+    #Create coordinate object for pole
+    poleAzAlt = pole.transform_to(AltAz(obstime=Time(observing_time),location=observing_location))
+    print(f"True polar alignment in Az./Alt.: 0h00m00s/{poleAzAlt.alt.to_string(u.degree, precision=2)}.")
+
+    #Transform current alignment to Alt/Az coordinate system
+    offsetAzAlt = offset.transform_to(AltAz(obstime=Time(observing_time),location=observing_location))
+    print(f"Current alignment in Az./Alt.: {offsetAzAlt.az.to_string(u.hour, precision=2)}/{offsetAzAlt.alt.to_string(u.degree, precision=2)}.")
+
+    #Calculate offset deltas from pole
+    #Normalize the azimuth values to between -180 and 180 degrees prior to determining offset.
+    errorAz = (((poleAzAlt.az.deg + 180) % 360 - 180)-((offsetAzAlt.az.deg + 180) % 360 - 180))*60
+    print(f"Azimuth error correction is: {errorAz:.4f} arcminutes.")
+    errorAlt = (poleAzAlt.alt.deg-offsetAzAlt.alt.deg)*60
+    print(f"Altitude error correction is: {errorAlt:.4f} arcminutes.")
+    
+    return errorAz, errorAlt
 
 #Latitude in degrees
 mylat = float(sys.argv[1])
@@ -75,42 +72,45 @@ def polarcalc(mylat, mylong, myelev, time, p1RA, p1DEC, p2RA, p2DEC, p3RA, p3DEC
 mylong = float(sys.argv[2])
 
 #Elevation in meters
-myelev = sys.argv[3]
+myelev = float(sys.argv[3])
 
 #YYYY-MM-DD HH:MM:SS format
 time = sys.argv[4]
 
 #All RA/DEC values must be in compatible format to Astropy.coordinates library.
 #Preferrably degrees, but 00h00m00.0s and 00d00m00.0s should also work
-p1RA = sys.argv[5]
-p1DEC = sys.argv[6]
-p2RA = sys.argv[7]
-p2DEC = sys.argv[8]
-p3RA = sys.argv[9]
-p3DEC = sys.argv[10]
+p1RA = float(sys.argv[5])
+p1DEC = float(sys.argv[6])
+p2RA = float(sys.argv[7])
+p2DEC = float(sys.argv[8])
+p3RA = float(sys.argv[9])
+p3DEC = float(sys.argv[10])
 
 #Serial port address for Arduino, typically /dev/ttyACM0 in Astroberry, possibly /dev/ttyACM1
-serialport = sys.argv[11]
+if len(sys.argv) <= 11:
+    serialport = "/dev/ttyACM0"
+else:
+    serialport = sys.argv[11]
 
 result = polarcalc(mylat, mylong, myelev, time, p1RA, p1DEC, p2RA, p2DEC, p3RA, p3DEC)
 
-#Verify error correction values can be handled by AutoPA hardware (assuming it is in home/centered position)
+#Verify error correction can be handled by AutoPA hardware (assuming it is in home/centered position)
 moveAz = "N"
 if abs(result[0]) > 120:
-	moveAz = input("Azimuth error may be out of bounds of hardware capabilities if not in home position. Continue? (Y/N): ") 
+    moveAz = input("Azimuth error may be out of bounds of hardware capabilities if not in home position. Continue? (Y/N): ") 
 else:
-	moveAz = "Y"
+    moveAz = "Y"
 if moveAz.upper() == "Y":
-	#Call process to move azimuth using elevated privileges  to override any existing serial connection
-	subprocess.call(['sudo', './altaz.py', "az", str(result[0]), serialport])
+    #Call process to move azimuth using elevated privileges  to override any existing serial connection
+    subprocess.call(['sudo', './altaz.py', "az", str(result[0]), serialport])
 
 moveAlt = "N"
 if result[1] > 168:
-	moveAz = input("Altitude error may be out of bounds of hardware capabilities if not in home position. Continue? (Y/N): ")
+    moveAz = input("Altitude error may be out of bounds of hardware capabilities if not in home position. Continue? (Y/N): ")
 elif result[1] > 432:
-	moveAz = input("Altitude error may be out of bounds of hardware capabilities if not in home position. Continue? (Y/N): ")
+    moveAz = input("Altitude error may be out of bounds of hardware capabilities if not in home position. Continue? (Y/N): ")
 else:
-	moveAlt = "Y"
+    moveAlt = "Y"
 if moveAlt.upper() == "Y":
-	#Call process to move altitude using elevated privileges to override any existing serial connection
-	subprocess.call(['sudo', './altaz.py', "alt", str(result[1]), serialport])
+    #Call process to move altitude using elevated privileges to override any existing serial connection
+    subprocess.call(['sudo', './altaz.py', "alt", str(result[1]), serialport])

Software/Addons/AutoPA/polaralign_calibration.py renamed to Software/Addons/AutoPA/polaralign_manualcalibration.py

@@ -11,7 +11,7 @@ def polarcalibrate(mylat, mylong, myelev):
 	#iers.conf.auto_max_age = None
 
 	#Create location object based on lat/long/elev
-	observing_location = EarthLocation(lat=mylat*u.deg, lon=mylong*u.deg, height=177*u.m)
+	observing_location = EarthLocation(lat=mylat*u.deg, lon=mylong*u.deg, height=myelev*u.m)
 
 	p1RA = input("Enter first RA value in 00h00m00.0s format: ")
 	p1DEC = input("Enter first DEC value in 00d00m00.0s format: ")
@@ -52,6 +52,6 @@ def polarcalibrate(mylat, mylong, myelev):
 mylong = float(sys.argv[2])
 
 #Elevation in meters
-myelev = sys.argv[3]
+myelev = float(sys.argv[3])
 
 polarcalibrate(mylat, mylong, myelev)

Software/Arduino code/OpenAstroTracker/Configuration_pins.hpp

@@ -17,36 +17,36 @@
     // If using NEMA steppers
     #define RA_STEP_PIN 22  // STEP
     #define RA_DIR_PIN  24  // DIR
-    #define RA_EN_PIN   25  // Enable
+    #define RA_EN_PIN   26  // Enable
+    #define RA_DIAG_PIN 28  // only needed for autohome function
     #define RA_MS0_PIN  30, HIGH    // 
     #define RA_MS1_PIN  32, HIGH
     #define RA_MS2_PIN  34, HIGH
     //RA TMC2209 UART specific pins
     #define RA_SERIAL_PORT Serial3  // HardwareSerial port, wire to TX3 for write-only
     #define RA_DRIVER_ADDRESS 0b00  // Set by MS1/MS2. LOW/LOW in this case
-    #define RA_DIAG_PIN 40          // only needed for autohome function
 
-    #define DEC_STEP_PIN 26  // STEP
-    #define DEC_DIR_PIN  28  // DIR
-    #define DEC_EN_PIN   29  // Enable
+    #define DEC_STEP_PIN 23  // STEP
+    #define DEC_DIR_PIN  25  // DIR
+    #define DEC_EN_PIN   27  // Enable
+    #define DEC_DIAG_PIN 29  // only needed for autohome function
     #define DEC_MS0_PIN  31  // 
     #define DEC_MS1_PIN  33
     #define DEC_MS2_PIN  35
     //DEC TMC2209 UART specific pins
     #define DEC_SERIAL_PORT Serial3  // HardwareSerial port, wire to TX2 for write-only
     #define DEC_DRIVER_ADDRESS 0b01  // Set by MS1/MS2 (MS1 HIGH, MS2 LOW)
-    #define DEC_DIAG_PIN 41          // only needed for autohome function
 
     #if AZIMUTH_ALTITUDE_MOTORS == 1
         // Azimuth and Altitude pins
-        #define AZ_IN1_PIN 38
-        #define AZ_IN2_PIN 40
-        #define AZ_IN3_PIN 42
-        #define AZ_IN4_PIN 44
         #define ALT_IN1_PIN 46
         #define ALT_IN2_PIN 48
         #define ALT_IN3_PIN 50
         #define ALT_IN4_PIN 52
+        #define AZ_IN1_PIN 47
+        #define AZ_IN2_PIN 49
+        #define AZ_IN3_PIN 51
+        #define AZ_IN4_PIN 53
     #endif
     //---------------
     // MISC PINS amd SETTINGS