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/* /*
This is the source code for the master-module of Star Track. This is the source code for the master-module of Star Track.
Required Libraries: Required Libraries:
https://virtuabotix-virtuabotixllc.netdna-ssl.com/core/wp-content/uploads/2014/01/virtuabotixRTC.zip https://virtuabotix-virtuabotixllc.netdna-ssl.com/core/wp-content/uploads/2014/01/virtuabotixRTC.zip
https://github.com/jrowberg/i2cdevlib/zipball/master https://github.com/jrowberg/i2cdevlib/zipball/master
Created 20 July 2016 by Görkem Bozkurt Created 20 July 2016 by Görkem Bozkurt
*/ */
#include <virtuabotixRTC.h> #include <virtuabotixRTC.h>
#include <Wire.h> #include <Wire.h>
#include <MPU6050.h> #include <MPU6050.h>
MPU6050 mpu; MPU6050 mpu;
//define RTC. //define RTC.
virtuabotixRTC myRTC(A0, A1, A2); virtuabotixRTC myRTC(A0, A1, A2);
double M,Y,D,MN,H,S; double M,Y,D,MN,H,S;
double A,B; double A,B;
double location =32.88;//your longtitude double location =32.88;//your longtitude
double LST_degrees;//variable to store local side real time(LST) in degrees. double LST_degrees;//variable to store local side real time(LST) in degrees.
double LST_hours;//variable to store local side real time(LST) in decimal hours. double LST_hours;//variable to store local side real time(LST) in decimal hours.
unsigned long timer = 0; unsigned long timer = 0;
float timeStep = 0.01; float timeStep = 0.01;
// Pitch and Yaw values // Pitch and Yaw values
double pitch = 0; double pitch = 0;
double yaw = 0; double yaw = 0;
double val = 0;//variable to store the user input DEC double val = 0;//variable to store the user input DEC
double val2 = 0;//variable to store the user input RA double val2 = 0;//variable to store the user input RA
double temp = val2;//temporary value to store val2 double temp = val2;//temporary value to store val2
const int stahp=7,stahp2=10; const int stahp=7,stahp2=10;
const int cw=8,cw2=11; const int cw=8,cw2=11;
const int ccw=6,ccw2=9; const int ccw=6,ccw2=9;
void setup() { void setup() {
//set date-time according to (seconds, minutes, hours, day of the week, day of the month, month, year) //set date-time according to (seconds, minutes, hours, day of the week, day of the month, month, year)
myRTC.setDS1302Time(00, 38, 23, 5, 27, 7, 2016); myRTC.setDS1302Time(00, 38, 23, 5, 27, 7, 2016);
Serial.begin(115200); Serial.begin(115200);
pinMode(stahp,OUTPUT); pinMode(stahp,OUTPUT);
pinMode(cw,OUTPUT); pinMode(cw,OUTPUT);
pinMode(ccw,OUTPUT); pinMode(ccw,OUTPUT);
pinMode(stahp2,OUTPUT); pinMode(stahp2,OUTPUT);
pinMode(cw2,OUTPUT); pinMode(cw2,OUTPUT);
pinMode(ccw2,OUTPUT); pinMode(ccw2,OUTPUT);
delay(5000);//wait before starting delay(5000);//wait before starting
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{ {
} }
mpu.calibrateGyro(); mpu.calibrateGyro();
mpu.setThreshold(3); mpu.setThreshold(3);
}//--(end setup )--- }//--(end setup )---
void loop() void loop()
{ {
//this will update the RA degrees with sidereal time 1degree at a time //this will update the RA degrees with sidereal time 1degree at a time
//this way the object or star on the sky is tracked. //this way the object or star on the sky is tracked.
/*if( floor(LST_degrees)==LST_degrees ){ if( floor(LST_degrees)==LST_degrees ){
if (LST_degrees>180){ if (LST_degrees>180){
val2 = temp+(360-LST_degrees); val2 = temp+(360-LST_degrees);
}else{ }else{
val2 = temp-LST_degrees; val2 = temp-LST_degrees;
} }
} }
*/
myRTC.updateTime(); myRTC.updateTime();
LST_time(); LST_time();
recvdata(); recvdata();
pitch_check(); pitch_check();
yaw_check(); yaw_check();
timer = millis(); timer = millis();
Vector norm = mpu.readNormalizeGyro(); Vector norm = mpu.readNormalizeGyro();
//I've put the sensor with a 90 degree angle on the setup due to //I've put the sensor with a 90 degree angle on the setup due to
//cable connection problems. Because of that the data values from the mpu6050 chip are //cable connection problems. Because of that the data values from the mpu6050 chip are
//different in this case: //different in this case:
//roll data(X-axis) is pitch. //roll data(X-axis) is pitch.
//pitch data(Y-axis) is yaw. //pitch data(Y-axis) is yaw.
yaw = yaw + norm.YAxis * timeStep; yaw = yaw + norm.YAxis * timeStep;
pitch = pitch + norm.XAxis * timeStep; pitch = pitch + norm.XAxis * timeStep;
Serial.print(" Yaw = "); Serial.print(" Yaw = ");
Serial.print(213.91); Serial.print(yaw);
Serial.print(" Pitch = "); Serial.print(" Pitch = ");
Serial.print(19.18); Serial.print(pitch);
Serial.print(" LST_d = "); Serial.print(" LST_d = ");
Serial.print(LST_degrees); Serial.print(LST_degrees);
Serial.print(" LST_h = "); Serial.print(" LST_h = ");
Serial.println(LST_hours);//local sidereal time in decimal hours. Serial.println(LST_hours);//local sidereal time in decimal hours.
delay((timeStep*1000) - (millis() - timer));//timer for the gyro. delay((timeStep*1000) - (millis() - timer));//timer for the gyro.
} }
void recvdata(){ void recvdata(){
//This function receives data from serial as (0.00,0.00) //This function receives data from serial as (0.00,0.00)
//splits it to strings by the comma "," //splits it to strings by the comma ","
//than converts them to doubles //than converts them to doubles
if (Serial.available() > 0){ if (Serial.available() > 0){
String a= Serial.readString(); String a= Serial.readString();
String value1, value2; String value1, value2;
// For loop which will separate the String in parts // For loop which will separate the String in parts
// and assign them the the variables we declare // and assign them the the variables we declare
for (int i = 0; i < a.length(); i++) { for (int i = 0; i < a.length(); i++) {
if (a.substring(i, i+1) == ",") { if (a.substring(i, i+1) == ",") {
value2 = a.substring(0, i); value2 = a.substring(0, i);
value1= a.substring(i+1); value1= a.substring(i+1);
break; break;
} }
} }
val=90-value1.toFloat(); val=90-value1.toFloat();
val2=value2.toFloat(); val2=value2.toFloat();
temp = val2; temp = val2;
} }
} }
void pitch_check(){ void pitch_check(){
//check if pitch is high, low or equal to the user input //check if pitch is high, low or equal to the user input
//send commands to slave-module to start and stop motors //send commands to slave-module to start and stop motors
if(floor(pitch*100)/100==floor(val*100)/100){ if(floor(pitch*100)/100==floor(val*100)/100){
digitalWrite(stahp,HIGH); digitalWrite(stahp,HIGH);
}else{ }else{
digitalWrite(stahp,LOW); digitalWrite(stahp,LOW);
} }
if(floor(pitch*100)<floor(val*100)){ if(floor(pitch*100)<floor(val*100)){
digitalWrite(cw,HIGH); digitalWrite(cw,HIGH);
}else{ }else{
digitalWrite(cw,LOW); digitalWrite(cw,LOW);
} }
if(floor(pitch*100)>floor(val*100)){ if(floor(pitch*100)>floor(val*100)){
digitalWrite(ccw,HIGH); digitalWrite(ccw,HIGH);
}else{ }else{
digitalWrite(ccw,LOW); digitalWrite(ccw,LOW);
} }
} }
void yaw_check(){ void yaw_check(){
//check if yaw is high, low or equal to the user input //check if yaw is high, low or equal to the user input
//send commands to slave-module to start and stop motors //send commands to slave-module to start and stop motors
if(floor(yaw*100)==floor(val2*100)){ if(floor(yaw*100)==floor(val2*100)){
digitalWrite(stahp2,HIGH); digitalWrite(stahp2,HIGH);
}else{ }else{
digitalWrite(stahp2,LOW); digitalWrite(stahp2,LOW);
} }
if(floor(yaw*100)<floor(val2*100)){ if(floor(yaw*100)<floor(val2*100)){
digitalWrite(cw2,HIGH); digitalWrite(cw2,HIGH);
}else{ }else{
digitalWrite(cw2,LOW); digitalWrite(cw2,LOW);
} }
if(floor(yaw*100)>floor(val2*100)){ if(floor(yaw*100)>floor(val2*100)){
digitalWrite(ccw2,HIGH); digitalWrite(ccw2,HIGH);
}else{ }else{
digitalWrite(ccw2,LOW); digitalWrite(ccw2,LOW);
} }
} }
void LST_time(){ void LST_time(){
//Calculates local sidereal time based on this calculation, //Calculates local sidereal time based on this calculation,
//http://www.stargazing.net/kepler/altaz.html //http://www.stargazing.net/kepler/altaz.html
M = (double) myRTC.month; M = (double) myRTC.month;
Y = (double) myRTC.year; Y = (double) myRTC.year;
D = (double) myRTC.dayofmonth; D = (double) myRTC.dayofmonth;
MN = (double) myRTC.minutes; MN = (double) myRTC.minutes;
H = (double) myRTC.hours; H = (double) myRTC.hours;
S = (double) myRTC.seconds; S = (double) myRTC.seconds;
A = (double)(Y-2000)*365.242199; A = (double)(Y-2000)*365.242199;
B = (double)(M-1)*30.4368499; B = (double)(M-1)*30.4368499;
double JDN2000=A+B+(D-1)+myRTC.hours/24; double JDN2000=A+B+(D-1)+myRTC.hours/24;
double decimal_time = H+(MN/60)+(S/3600) ; double decimal_time = H+(MN/60)+(S/3600) ;
double LST = 100.46 + 0.985647 * JDN2000 + location + 15*decimal_time; double LST = 100.46 + 0.985647 * JDN2000 + location + 15*decimal_time;
LST_degrees = (LST-(floor(LST/360)*360)); LST_degrees = (LST-(floor(LST/360)*360));
LST_hours = LST_degrees/15; LST_hours = LST_degrees/15;
} }