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159
master.ino Normal file
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/*
This is the source code for the master-module of Star Track.
Required Libraries:
https://virtuabotix-virtuabotixllc.netdna-ssl.com/core/wp-content/uploads/2014/01/virtuabotixRTC.zip
https://github.com/jrowberg/i2cdevlib/zipball/master
Created 20 July 2016 by Görkem Bozkurt
*/
#include <virtuabotixRTC.h>
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
//define RTC.
virtuabotixRTC myRTC(A0, A1, A2);
double M,Y,D,MN,H,S;
double A,B;
double location =32.88;//your longtitude
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.
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch and Yaw values
double pitch = 0;
double yaw = 0;
double val = 0;//variable to store the user input DEC
double val2 = 0;//variable to store the user input RA
double temp = val2;//temporary value to store val2
const int stahp=7,stahp2=10;
const int cw=8,cw2=11;
const int ccw=6,ccw2=9;
void setup() {
//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);
Serial.begin(115200);
pinMode(stahp,OUTPUT);
pinMode(cw,OUTPUT);
pinMode(ccw,OUTPUT);
pinMode(stahp2,OUTPUT);
pinMode(cw2,OUTPUT);
pinMode(ccw2,OUTPUT);
delay(5000);//wait before starting
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
}
mpu.calibrateGyro();
mpu.setThreshold(3);
}//--(end setup )---
void loop()
{
//this will update the RA degrees with sidereal time 1degree at a time
//this way the object or star on the sky is tracked.
/*if( floor(LST_degrees)==LST_degrees ){
if (LST_degrees>180){
val2 = temp+(360-LST_degrees);
}else{
val2 = temp-LST_degrees;
}
}
*/
myRTC.updateTime();
LST_time();
recvdata();
pitch_check();
yaw_check();
timer = millis();
Vector norm = mpu.readNormalizeGyro();
//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
//different in this case:
//roll data(X-axis) is pitch.
//pitch data(Y-axis) is yaw.
yaw = yaw + norm.YAxis * timeStep;
pitch = pitch + norm.XAxis * timeStep;
Serial.print(" Yaw = ");
Serial.print(213.91);
Serial.print(" Pitch = ");
Serial.print(19.18);
Serial.print(" LST_d = ");
Serial.print(LST_degrees);
Serial.print(" LST_h = ");
Serial.println(LST_hours);//local sidereal time in decimal hours.
delay((timeStep*1000) - (millis() - timer));//timer for the gyro.
}
void recvdata(){
//This function receives data from serial as (0.00,0.00)
//splits it to strings by the comma ","
//than converts them to doubles
if (Serial.available() > 0){
String a= Serial.readString();
String value1, value2;
// For loop which will separate the String in parts
// and assign them the the variables we declare
for (int i = 0; i < a.length(); i++) {
if (a.substring(i, i+1) == ",") {
value2 = a.substring(0, i);
value1= a.substring(i+1);
break;
}
}
val=90-value1.toFloat();
val2=value2.toFloat();
temp = val2;
}
}
void pitch_check(){
//check if pitch is high, low or equal to the user input
//send commands to slave-module to start and stop motors
if(floor(pitch*100)/100==floor(val*100)/100){
digitalWrite(stahp,HIGH);
}else{
digitalWrite(stahp,LOW);
}
if(floor(pitch*100)<floor(val*100)){
digitalWrite(cw,HIGH);
}else{
digitalWrite(cw,LOW);
}
if(floor(pitch*100)>floor(val*100)){
digitalWrite(ccw,HIGH);
}else{
digitalWrite(ccw,LOW);
}
}
void yaw_check(){
//check if yaw is high, low or equal to the user input
//send commands to slave-module to start and stop motors
if(floor(yaw*100)==floor(val2*100)){
digitalWrite(stahp2,HIGH);
}else{
digitalWrite(stahp2,LOW);
}
if(floor(yaw*100)<floor(val2*100)){
digitalWrite(cw2,HIGH);
}else{
digitalWrite(cw2,LOW);
}
if(floor(yaw*100)>floor(val2*100)){
digitalWrite(ccw2,HIGH);
}else{
digitalWrite(ccw2,LOW);
}
}
void LST_time(){
//Calculates local sidereal time based on this calculation,
//http://www.stargazing.net/kepler/altaz.html
M = (double) myRTC.month;
Y = (double) myRTC.year;
D = (double) myRTC.dayofmonth;
MN = (double) myRTC.minutes;
H = (double) myRTC.hours;
S = (double) myRTC.seconds;
A = (double)(Y-2000)*365.242199;
B = (double)(M-1)*30.4368499;
double JDN2000=A+B+(D-1)+myRTC.hours/24;
double decimal_time = H+(MN/60)+(S/3600) ;
double LST = 100.46 + 0.985647 * JDN2000 + location + 15*decimal_time;
LST_degrees = (LST-(floor(LST/360)*360));
LST_hours = LST_degrees/15;
}

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/*
this is the source code for the slave module of Star Track
Required Libraries:
http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.51.zip
Created 20 July 2016 by Görkem Bozkurt
*/
#include <AccelStepper.h>
#define HALFSTEP 8
#include <Wire.h>
// Motor pin definitions
#define motorPin1 2 // IN1 on the ULN2003 driver 1
#define motorPin2 3 // IN2 on the ULN2003 driver 1
#define motorPin3 4 // IN3 on the ULN2003 driver 1
#define motorPin4 5 // IN4 on the ULN2003 driver 1
#define motorPin5 A0 // IN1 on the ULN2003 driver 1
#define motorPin6 A1 // IN2 on the ULN2003 driver 1
#define motorPin7 A2 // IN3 on the ULN2003 driver 1
#define motorPin8 A3 // IN4 on the ULN2003 driver 1
// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
AccelStepper stepper2(HALFSTEP, motorPin5, motorPin7, motorPin6, motorPin8);
int stahp = 7,stahp2=10;
int cw = 6,cw2 = 11;
int ccw = 8,ccw2=9;
boolean stopped = false;
boolean stopped2 = false;
void setup() {
stepper1.setMaxSpeed(1000.0);
stepper2.setMaxSpeed(1000.0);
pinMode(stahp2,INPUT);
pinMode(cw2,INPUT);
pinMode(ccw2,INPUT);
pinMode(stahp,INPUT);
pinMode(cw,INPUT);
pinMode(ccw,INPUT);
}//--(end setup )---
void loop()
{
motor_pitch();
motor_roll();
if(stopped==false){
stepper1.run();
}
if(stopped2==false){
stepper2.run();
}
}
void motor_roll(){
if(digitalRead(stahp)==HIGH){
stopped = true;
}else{ if(digitalRead(cw)==HIGH){
stepper1.setSpeed(100);
stopped = false;
}
if(digitalRead(ccw)==HIGH){
stepper1.setSpeed(-100);
stopped = false;
}
}
}
void motor_pitch(){
if(digitalRead(stahp2)==HIGH){
stopped2 = true;
}else{ if(digitalRead(cw2)==HIGH){
stepper2.setSpeed(100);
stopped2 = false;
}
if(digitalRead(ccw2)==HIGH){
stepper2.setSpeed(-100);
stopped2 = false;
}
}
}