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KBENCODR.C
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KBENCODR.C
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/*
copyright 1990 through 2007 by Mel Bartels
This file is part of scope.exe the stepper version.
Scope.exe is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
Scope.exe is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with scope.exe; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <math.h>
#include <time.h>
#include <dos.h>
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <values.h>
#include <string.h>
#include <ctype.h>
#include <dir.h>
#include <process.h>
#include <graphics.h>
#include "header.h"
void SetEncoderAZandEncoderOffset( void)
{
if( EncoderState > NotInitialized)
{
EncoderAZ.A = Current.Alt;
EncoderAZ.Z = Current.Az;
EncoderOffset.A = EncoderAZ.A - OneRev * (double) EncoderCount.A / (double) AltEncoderCountsPerRev;
EncoderOffset.Z = EncoderAZ.Z - OneRev * (double) EncoderCount.Z / (double) AzEncoderCountsPerRev;
}
}
void DisplayEncodersNotAvailable( void)
{
VidMemXY = DisplayXY[DisplayEncoderAlt];
TextAttr = DisplayText;
sprintf( StrBuf, "%s ", NotAvailableStr);
WriteStrBufToScreen_f_ptr();
VidMemXY = DisplayXY[DisplayEncoderAz];
sprintf( StrBuf, "%s ", NotAvailableStr);
WriteStrBufToScreen_f_ptr();
VidMemXY = DisplayXY[DisplayEncoderCountAlt];
TextAttr = DisplayText;
sprintf( StrBuf, "%s", NotAvailableStr);
WriteStrBufToScreen_f_ptr();
VidMemXY = DisplayXY[DisplayEncoderCountAz];
sprintf( StrBuf, "%s", NotAvailableStr);
WriteStrBufToScreen_f_ptr();
}
// azimuth/Right Ascension should read 0 to 360;
// altitude/Declination should read -180 to 180,
// except when meridian flipped, where altDec should read -90 to 270
void CalcEncoderAZ( void)
{
EncoderAZ.A = ValidRadPi( EncoderOffset.A + OneRev * (double) EncoderCount.A / (double) AltEncoderCountsPerRev);
EncoderAZ.Z = ValidRad( EncoderOffset.Z + OneRev * (double) EncoderCount.Z / (double) AzEncoderCountsPerRev);
if( GEMflippedFlag)
if( EncoderAZ.A < -QtrRev)
EncoderAZ.A += OneRev;
}
/* called from KBEventMoveHs() and SequentialEncoderController() which is called by
SequentialTaskController(): translates encoder counts into coordinates then checks thresholds: if
threshold exceeded then resets Current coordinate, writing event to the encoder reset log file */
void SetEncoderThresholdFlag( void)
{
double AbsAltError, AbsAzError;
EncoderThreshold = No;
/* reset current if encoder vs current discrepancy */
if( EncoderErrorThreshold > 0)
{
/* get alt discrepancy */
AbsAltError = ValidRadPi( Current.Alt - EncoderAZ.A);
if( AbsAltError < 0)
AbsAltError = -AbsAltError;
if( (TrackFlag && AbsAltError > TrackEncoderErrorThreshold)
|| (!TrackFlag && AbsAltError > EncoderErrorThreshold))
{
EncoderThreshold = Yes;
if( MakeEncoderResetLogFile)
WriteEncoderResetLogFileRecord( ALTITUDE);
Current.Alt = EncoderAZ.A;
AlignMs_f_ptr();
SetAccumMsToCurrentAltaz();
}
/* get az discrepancy */
AbsAzError = ValidRadPi( Current.Az - EncoderAZ.Z);
if( AbsAzError < 0)
AbsAzError = -AbsAzError;
if( (TrackFlag && AbsAzError > TrackEncoderErrorThreshold)
|| (!TrackFlag && AbsAzError > EncoderErrorThreshold))
{
EncoderThreshold = Yes;
if( MakeEncoderResetLogFile)
WriteEncoderResetLogFileRecord( AZIMUTH);
Current.Az = EncoderAZ.Z;
AlignMs_f_ptr();
SetAccumMsToCurrentAltaz();
}
}
}
void ProcessBadEncoderThresholdSlew( void)
{
/* not StrBuf as it's used in DisplayIn() */
sprintf( StrBuf2, "EncResSlew%2d", EncoderSlewResetCount++);
DisplayIn( StrBuf2, NameBlanks);
}
void ProcessBadEncoderThresholdTrack( void)
{
/* if tracking on, it's assumed that user wishes scope to continue moving to Ra/Dec, ie, scope
bumped accidently; if tracking off, it's assumed that user is moving scope manually and wishes
Ra/Dec to be reset based on encoders */
if( TrackFlag)
{
/* not StrBuf as it's used in DisplayIn() */
sprintf( StrBuf2, "EncResOn%2d",
EncoderTrackOnResetCount++);
DisplayIn( StrBuf2, NameBlanks);
}
else
{
sprintf( StrBuf2, "EncResOff%2d",
EncoderTrackOffResetCount++);
DisplayIn( StrBuf2, NameBlanks);
HPEventGetEquat();
}
}
void WriteEncoderResetLogFileRecord( Flag Axis)
{
fprintf( EncoderOutput, "Encoder reset: ");
if( Axis == ALTITUDE)
fprintf(EncoderOutput, "Alt %f deg", Current.Alt*RadToDeg - EncoderAZ.A*RadToDeg);
else
fprintf(EncoderOutput, "Az %f deg", Current.Az*RadToDeg - EncoderAZ.Z*RadToDeg);
fprintf( EncoderOutput, "; Track? %c; Time %2d:%02d:%02d\n", TrackFlag?'y':'n', t.ti_hour,
t.ti_min, t.ti_sec);
}
void ProcessMenuInitEncoders( void)
{
if( EncoderType)
{
ResetEncoders_f_ptr();
if( EncoderState == Read)
{
QueryAndReadEncoders();
if( EncoderState == Read)
{
SetEncoderAZandEncoderOffset();
PressKeyToContMsg( "Encoders initiated");
}
else
PressKeyToContMsg( "Could not read encoders");
}
else
PressKeyToContMsg( "Could not reset encoders");
}
else
PressKeyToContMsg( "Encoders not available");
}
void ProcessMenuResetToEncoders( void)
{
if( EncoderState == Read)
{
Current.Alt = EncoderAZ.A;
Current.Az = EncoderAZ.Z;
SetAccumMsToCurrentAltaz();
PressKeyToContMsg( "Encoders reset");
DisplayIn( "encoder reset", NameBlanks);
HPEventGetEquat();
}
else
PressKeyToContMsg( "Encoders not readable");
}
void DisplayEncoderCounts( void)
{
VidMemXY = DisplayXY[DisplayEncoderCountAlt];
sprintf( StrBuf, "%6ld", EncoderCount.A);
WriteStrBufToScreen_f_ptr();
VidMemXY = DisplayXY[DisplayEncoderCountAz];
sprintf( StrBuf, "%6ld", EncoderCount.Z);
WriteStrBufToScreen_f_ptr();
}
void DisplayEncoderAltaz( void)
{
VidMemXY = DisplayXY[DisplayEncoderAlt];
VidMemDeg( EncoderAZ.A);
VidMemXY = DisplayXY[DisplayEncoderAz];
VidMemDeg( EncoderAZ.Z);
}