#include <skywatcherAPI.h>

Inheritance diagram for SkywatcherAPI:

Classes
struct	SkyWatcherFeatures

Public Types
enum	AXISID { AXIS1 = 0 , AXIS2 = 1 }

enum	SkywatcherCommand { Initialize = 'F' , InquireMotorBoardVersion = 'e' , InquireGridPerRevolution = 'a' , InquireTimerInterruptFreq = 'b' , InquireHighSpeedRatio = 'g' , InquirePECPeriod = 's' , InstantAxisStop = 'L' , NotInstantAxisStop = 'K' , SetAxisPositionCmd = 'E' , GetAxisPosition = 'j' , GetAxisStatus = 'f' , SetSnapPort = 'O' , SetMotionMode = 'G' , SetGotoTargetIncrement = 'H' , SetBreakPointIncrement = 'M' , SetGotoTarget = 'S' , SetBreakStep = 'U' , SetStepPeriod = 'I' , StartMotion = 'J' , GetStepPeriod = 'D' , ActivateMotor = 'B' , SetST4GuideRateCmd = 'P' , GetHomePosition = 'd' , SetFeatureCmd = 'W' , GetFeatureCmd = 'q' , InquireAuxEncoder = 'd' , SetPolarScopeLED = 'V' }

enum	SkywatcherGetFeatureCmd { GET_INDEXER_CMD = 0x00 , GET_FEATURES_CMD = 0x01 }

enum	SkywatcherSetFeatureCmd { START_PPEC_TRAINING_CMD = 0x00 , STOP_PPEC_TRAINING_CMD = 0x01 , TURN_PPEC_ON_CMD = 0x02 , TURN_PPEC_OFF_CMD = 0X03 , ENCODER_ON_CMD = 0x04 , ENCODER_OFF_CMD = 0x05 , DISABLE_FULL_CURRENT_LOW_SPEED_CMD = 0x0006 , ENABLE_FULL_CURRENT_LOW_SPEED_CMD = 0x0106 , RESET_HOME_INDEXER_CMD = 0x08 }

enum	PositiveRotationSense_t { CLOCKWISE , ANTICLOCKWISE }

enum	MountType { EQ6 = 0x00 , HEQ5 = 0x01 , EQ5 = 0x02 , EQ3 = 0x03 , EQ8 = 0x04 , AZEQ6 = 0x05 , AZEQ5 = 0x06 , STAR_ADVENTURER = 0x0A , EQ8R_PRO = 0x20 , AZEQ6_PRO = 0x22 , EQ6_PRO = 0x23 , EQ5_PRO = 0x31 , WAVE_150I = 0x45 , WAVE_100I = 0x44 , GT = 0x80 , MF = 0x81 , _114GT = 0x82 , DOB = 0x90 , AZGTE = 0xA2 , AZGTI = 0xA5 }

typedef struct SkywatcherAPI::SkyWatcherFeatures	SkyWatcherFeatures

Public Member Functions
	SkywatcherAPI ()

virtual	~SkywatcherAPI ()=default

unsigned long	BCDstr2long (std::string &String)

unsigned long	Highstr2long (std::string &String)

bool	CheckIfDCMotor ()

long	DegreesPerSecondToClocksTicksPerMicrostep (AXISID Axis, double DegreesPerSecond)
	Check if the current mount is a Virtuoso (AltAz)

long	DegreesToMicrosteps (AXISID Axis, double AngleInDegrees)
	Convert angle in degrees to microsteps.

bool	GetEncoder (AXISID Axis)
	Set the CurrentEncoders status variable to the current encoder value in microsteps for the specified axis.

bool	GetHighSpeedRatio (AXISID Axis)
	Set the HighSpeedRatio status variable to the ratio between high and low speed stepping modes.

bool	GetMicrostepsPerRevolution (AXISID Axis)
	Set the MicrostepsPerRevolution status variable to the number of microsteps for a 360 degree revolution of the axis.

bool	GetMicrostepsPerWormRevolution (AXISID Axis)
	Set the MicrostepsPermWormRevolution status variable to the number of microsteps for a 360 degree revolution of the worm gear.

bool	GetMotorBoardVersion (AXISID Axis)

PositiveRotationSense_t	GetPositiveRotationDirection (AXISID Axis)
	Returns the rotation direction for a positive step on the designated axis.

bool	GetStatus (AXISID Axis)

bool	GetStepperClockFrequency (AXISID Axis)
	Set the StepperClockFrequency status variable to fixed PIC timer interrupt frequency (ticks per second).

bool	InquireFeatures ()

bool	InitializeMC ()

bool	InitMount ()
	Initialize the communication to the mount.

bool	HasHomeIndexers ()

bool	HasAuxEncoders ()

bool	HasPPEC ()

bool	HasSnapPort1 ()

bool	HasSnapPort2 ()

bool	HasPolarLed ()

void	TurnEncoder (AXISID axis, bool on)

void	TurnRAEncoder (bool on)

void	TurnDEEncoder (bool on)

void	SetFeature (AXISID axis, uint32_t command)

bool	InstantStop (AXISID Axis)
	Bring the axis to an immediate halt. N.B. This command could cause damage to the mount or telescope and should not normally be used except for emergency stops.

void	Long2BCDstr (long Number, std::string &String)

double	MicrostepsToDegrees (AXISID Axis, long Microsteps)
	Convert microsteps to angle in degrees.

double	MicrostepsToRadians (AXISID Axis, long Microsteps)
	Convert microsteps to angle in radians.

void	PrepareForSlewing (AXISID Axis, double Speed)

long	RadiansPerSecondToClocksTicksPerMicrostep (AXISID Axis, double RadiansPerSecond)
	Convert a slewing rate in radians per second into the required clock ticks per microstep setting.

long	RadiansToMicrosteps (AXISID Axis, double AngleInRadians)
	Convert angle in radians to microsteps.

bool	SetEncoder (AXISID Axis, long Microsteps)
	Set axis encoder to the specified value.

bool	SetGotoTargetOffset (AXISID Axis, long OffsetInMicrosteps)
	Set the goto target offset per the specified axis.

bool	SetAxisMotionMode (AXISID Axis, char Func, char Direction)
	Set the motion mode per the specified axis.

void	SetSerialPort (int port)
	Set the serail port to be usb for mount communication.

bool	SetClockTicksPerMicrostep (AXISID Axis, long ClockTicksPerMicrostep)
	Set the PIC internal divider variable which determines how many clock interrupts have to occur between each microstep.

bool	SetSlewModeDeccelerationRampLength (AXISID Axis, long Microsteps)
	Set the length of the deccelaration ramp for Slew mode.

bool	SetSlewToModeDeccelerationRampLength (AXISID Axis, long Microsteps)
	Set the length of the deccelaration ramp for SlewTo mode.

bool	toggleSnapPort (bool enabled)
	Toggle the snap port on or off.

void	Slew (AXISID Axis, double SpeedInRadiansPerSecond, bool IgnoreSilentMode=true)
	Start the axis slewing at the given rate.

void	SlewTo (AXISID Axis, long OffsetInMicrosteps, bool verbose=true)
	Slew to the given offset and stop.

bool	SlowStop (AXISID Axis)
	Bring the axis to slow stop in the distance specified by SetSlewModeDeccelerationRampLength.

bool	StartAxisMotion (AXISID Axis)
	Start the axis slewing in the previously selected mode.

bool	TalkWithAxis (AXISID Axis, SkywatcherCommand Command, std::string &cmdDataStr, std::string &responseStr)

bool	IsInMotion (AXISID Axis)
	Check if an axis is moving.

Static Public Member Functions
static const char *	mountTypeToString (uint8_t type)

Public Attributes
unsigned long	MCVersion { 0 }

unsigned long	MountCode { 0 }

bool	IsDCMotor { false }

bool	SilentSlewMode { true }

long	MicrostepsPerRevolution [2]

long	StepperClockFrequency [2]

long	HighSpeedRatio [2]

long	MicrostepsPerWormRevolution [2]

SkyWatcherFeatures	AxisFeatures [2]

double	RadiansPerMicrostep [2]

double	MicrostepsPerRadian [2]

double	DegreesPerMicrostep [2]

double	MicrostepsPerDegree [2]

long	LowSpeedGotoMargin [2]

long	LastSlewToTarget [2]

long	CurrentEncoders [2]
	Current encoder values (microsteps).

long	PolarisPositionEncoders [2]
	Polaris position (initial) encoder values (microsteps).

long	ZeroPositionEncoders [2]
	Zero position encoder values (microsteps).

AXISSTATUS	AxesStatus [2]

double	SlewingSpeed [2]

INDI::Telescope *	pChildTelescope { nullptr }

Static Public Attributes
static constexpr double	SIDEREALRATE { (2 * M_PI / 86164.09065) }

static constexpr double	MAX_SPEED { 500.0 }

static constexpr double	LOW_SPEED_MARGIN { 128.0 * SIDEREALRATE }

Protected Attributes
unsigned int	DBG_SCOPE { 0 }

Detailed Description

Definition at line 53 of file skywatcherAPI.h.

Member Typedef Documentation

◆ SkyWatcherFeatures

typedef struct SkywatcherAPI::SkyWatcherFeatures SkywatcherAPI::SkyWatcherFeatures

Member Enumeration Documentation

◆ AXISID

enum SkywatcherAPI::AXISID

Enumerator
AXIS1
AXIS2

Definition at line 56 of file skywatcherAPI.h.

◆ MountType

enum SkywatcherAPI::MountType

Enumerator
EQ6
HEQ5
EQ5
EQ3
EQ8
AZEQ6
AZEQ5
STAR_ADVENTURER
EQ8R_PRO
AZEQ6_PRO
EQ6_PRO
EQ5_PRO
WAVE_150I
WAVE_100I
GT
MF
_114GT
DOB
AZGTE
AZGTI

Definition at line 338 of file skywatcherAPI.h.

◆ PositiveRotationSense_t

enum SkywatcherAPI::PositiveRotationSense_t

Enumerator
CLOCKWISE
ANTICLOCKWISE

Definition at line 174 of file skywatcherAPI.h.

◆ SkywatcherCommand

enum SkywatcherAPI::SkywatcherCommand

Enumerator
Initialize
InquireMotorBoardVersion
InquireGridPerRevolution
InquireTimerInterruptFreq
InquireHighSpeedRatio
InquirePECPeriod
InstantAxisStop
NotInstantAxisStop
SetAxisPositionCmd
GetAxisPosition
GetAxisStatus
SetSnapPort
SetMotionMode
SetGotoTargetIncrement
SetBreakPointIncrement
SetGotoTarget
SetBreakStep
SetStepPeriod
StartMotion
GetStepPeriod
ActivateMotor
SetST4GuideRateCmd
GetHomePosition
SetFeatureCmd
GetFeatureCmd
InquireAuxEncoder
SetPolarScopeLED

Definition at line 63 of file skywatcherAPI.h.

◆ SkywatcherGetFeatureCmd

enum SkywatcherAPI::SkywatcherGetFeatureCmd

Enumerator
GET_INDEXER_CMD
GET_FEATURES_CMD

Definition at line 94 of file skywatcherAPI.h.

◆ SkywatcherSetFeatureCmd

enum SkywatcherAPI::SkywatcherSetFeatureCmd

Enumerator
START_PPEC_TRAINING_CMD
STOP_PPEC_TRAINING_CMD
TURN_PPEC_ON_CMD
TURN_PPEC_OFF_CMD
ENCODER_ON_CMD
ENCODER_OFF_CMD
DISABLE_FULL_CURRENT_LOW_SPEED_CMD
ENABLE_FULL_CURRENT_LOW_SPEED_CMD
RESET_HOME_INDEXER_CMD

Definition at line 100 of file skywatcherAPI.h.

Constructor & Destructor Documentation

◆ SkywatcherAPI()

SkywatcherAPI::SkywatcherAPI ( )

Definition at line 116 of file skywatcherAPI.cpp.

◆ ~SkywatcherAPI()

virtual SkywatcherAPI::~SkywatcherAPI ( )

virtualdefault

Member Function Documentation

◆ BCDstr2long()

unsigned long SkywatcherAPI::BCDstr2long ( std::string & String )

Definition at line 131 of file skywatcherAPI.cpp.

◆ CheckIfDCMotor()

bool SkywatcherAPI::CheckIfDCMotor ( )

Definition at line 177 of file skywatcherAPI.cpp.

◆ DegreesPerSecondToClocksTicksPerMicrostep()

long SkywatcherAPI::DegreesPerSecondToClocksTicksPerMicrostep	(	AXISID	Axis,
		double	DegreesPerSecond
	)

Check if the current mount is a Virtuoso (AltAz)

Returns: True if the current mount is Virtuoso otherwise false.

Check if the current mount is a Merlin (AltAz)

Returns: True if the current mount is Merlin otherwise false.

Check if the current mount is AZ GTi

Returns: True if the current mount is AZ GTi otherwise false.

Convert a slewing rate in degrees per second into the required clock ticks per microstep setting.

Parameters

[in]	Axis	- The axis to use.
[in]	DegreesPerSecond	- Slewing rate in degrees per second

Returns: Clock ticks per microstep for the requested rate

Definition at line 218 of file skywatcherAPI.cpp.

◆ DegreesToMicrosteps()

long SkywatcherAPI::DegreesToMicrosteps	(	AXISID	Axis,
		double	AngleInDegrees
	)

Convert angle in degrees to microsteps.

Parameters

[in]	Axis	- The axis to use.
[in]	AngleInRadians	- the angle in degrees.

Returns: the number of microsteps

Definition at line 225 of file skywatcherAPI.cpp.

◆ GetEncoder()

bool SkywatcherAPI::GetEncoder ( AXISID Axis )

Set the CurrentEncoders status variable to the current encoder value in microsteps for the specified axis.

Returns: false failure

Definition at line 230 of file skywatcherAPI.cpp.

◆ GetHighSpeedRatio()

bool SkywatcherAPI::GetHighSpeedRatio ( AXISID Axis )

Set the HighSpeedRatio status variable to the ratio between high and low speed stepping modes.

Definition at line 244 of file skywatcherAPI.cpp.

◆ GetMicrostepsPerRevolution()

bool SkywatcherAPI::GetMicrostepsPerRevolution ( AXISID Axis )

Set the MicrostepsPerRevolution status variable to the number of microsteps for a 360 degree revolution of the axis.

Parameters

[in] Axis - The axis to use.

Returns: false failure

Definition at line 265 of file skywatcherAPI.cpp.

◆ GetMicrostepsPerWormRevolution()

bool SkywatcherAPI::GetMicrostepsPerWormRevolution ( AXISID Axis )

Set the MicrostepsPermWormRevolution status variable to the number of microsteps for a 360 degree revolution of the worm gear.

Parameters

[in] Axis - The axis to use.

Returns: false failure

Definition at line 300 of file skywatcherAPI.cpp.

◆ GetMotorBoardVersion()

bool SkywatcherAPI::GetMotorBoardVersion ( AXISID Axis )

Definition at line 317 of file skywatcherAPI.cpp.

◆ GetPositiveRotationDirection()

SkywatcherAPI::PositiveRotationSense_t SkywatcherAPI::GetPositiveRotationDirection ( AXISID Axis )

Returns the rotation direction for a positive step on the designated axis.

Parameters

[in] Axis - The axis to use.

Returns: The rotation sense clockwise or anticlockwise.

Rotation directions are given looking down the axis towards the motorised pier for an altitude or declination axis. Or down the pier towards the mount base for an azimuth or right ascension axis

Definition at line 334 of file skywatcherAPI.cpp.

◆ GetStatus()

bool SkywatcherAPI::GetStatus ( AXISID Axis )

Definition at line 365 of file skywatcherAPI.cpp.

◆ GetStepperClockFrequency()

bool SkywatcherAPI::GetStepperClockFrequency ( AXISID Axis )

Set the StepperClockFrequency status variable to fixed PIC timer interrupt frequency (ticks per second).

Returns: false failure

Definition at line 343 of file skywatcherAPI.cpp.

◆ HasAuxEncoders()

bool SkywatcherAPI::HasAuxEncoders ( )

Definition at line 990 of file skywatcherAPI.cpp.

◆ HasHomeIndexers()

bool SkywatcherAPI::HasHomeIndexers ( )

Definition at line 985 of file skywatcherAPI.cpp.

◆ HasPolarLed()

bool SkywatcherAPI::HasPolarLed ( )

Definition at line 1011 of file skywatcherAPI.cpp.

◆ HasPPEC()

bool SkywatcherAPI::HasPPEC ( )

Definition at line 995 of file skywatcherAPI.cpp.

◆ HasSnapPort1()

bool SkywatcherAPI::HasSnapPort1 ( )

Definition at line 1000 of file skywatcherAPI.cpp.

◆ HasSnapPort2()

bool SkywatcherAPI::HasSnapPort2 ( )

Definition at line 1006 of file skywatcherAPI.cpp.

◆ Highstr2long()

unsigned long SkywatcherAPI::Highstr2long ( std::string & String )

Definition at line 158 of file skywatcherAPI.cpp.

◆ InitializeMC()

bool SkywatcherAPI::InitializeMC ( )

Definition at line 427 of file skywatcherAPI.cpp.

◆ InitMount()

bool SkywatcherAPI::InitMount ( )

Initialize the communication to the mount.

Returns: True if successful otherwise false

Definition at line 497 of file skywatcherAPI.cpp.

◆ InquireFeatures()

bool SkywatcherAPI::InquireFeatures ( )

Definition at line 439 of file skywatcherAPI.cpp.

◆ InstantStop()

bool SkywatcherAPI::InstantStop ( AXISID Axis )

Bring the axis to an immediate halt. N.B. This command could cause damage to the mount or telescope and should not normally be used except for emergency stops.

Parameters

[in] Axis - The axis to use.

Returns: false failure

Definition at line 586 of file skywatcherAPI.cpp.

◆ IsInMotion()

bool SkywatcherAPI::IsInMotion ( AXISID Axis )

Check if an axis is moving.

Parameters

[in] Axis - The axis to check.

Returns: True if the axis is moving otherwise false.

Definition at line 978 of file skywatcherAPI.cpp.

◆ Long2BCDstr()

void SkywatcherAPI::Long2BCDstr	(	long	Number,
		std::string &	String
	)

Definition at line 597 of file skywatcherAPI.cpp.

◆ MicrostepsToDegrees()

double SkywatcherAPI::MicrostepsToDegrees	(	AXISID	Axis,
		long	Microsteps
	)

Convert microsteps to angle in degrees.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps

Returns: the angle in degrees

Definition at line 605 of file skywatcherAPI.cpp.

◆ MicrostepsToRadians()

double SkywatcherAPI::MicrostepsToRadians	(	AXISID	Axis,
		long	Microsteps
	)

Convert microsteps to angle in radians.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps

Returns: the angle in radians

Definition at line 610 of file skywatcherAPI.cpp.

◆ mountTypeToString()

const char * SkywatcherAPI::mountTypeToString ( uint8_t type )

static

Definition at line 67 of file skywatcherAPI.cpp.

◆ PrepareForSlewing()

void SkywatcherAPI::PrepareForSlewing	(	AXISID	Axis,
		double	Speed
	)

Definition at line 615 of file skywatcherAPI.cpp.

◆ RadiansPerSecondToClocksTicksPerMicrostep()

long SkywatcherAPI::RadiansPerSecondToClocksTicksPerMicrostep	(	AXISID	Axis,
		double	RadiansPerSecond
	)

Convert a slewing rate in radians per second into the required clock ticks per microstep setting.

Parameters

[in]	Axis	- The axis to use.
[in]	DegreesPerSecond	- Slewing rate in degrees per second

Returns: Clock ticks per microstep for the requested rate

Definition at line 664 of file skywatcherAPI.cpp.

◆ RadiansToMicrosteps()

long SkywatcherAPI::RadiansToMicrosteps	(	AXISID	Axis,
		double	AngleInRadians
	)

Convert angle in radians to microsteps.

Parameters

[in]	Axis	- The axis to use.
[in]	AngleInRadians	- the angle in radians.

Returns: the number of microsteps

Definition at line 671 of file skywatcherAPI.cpp.

◆ SetAxisMotionMode()

bool SkywatcherAPI::SetAxisMotionMode	(	AXISID	Axis,
		char	Func,
		char	Direction
	)

Set the motion mode per the specified axis.

Parameters

[in]	Axis	- The axis to use.
[in]	Func	- the slewing mode 0 = High speed SlewTo mode 1 = Low speed Slew mode 2 = Low speed SlewTo mode 3 = High Speed Slew mode
[in]	Direction	- the direction to slew in 0 = Forward 1 = Reverse

Returns: false failure

Func - 0 High speed slew to mode (goto) Func - 1 Low speed slew mode Func - 2 Low speed slew to mode (goto) Func - 3 High speed slew mode

Definition at line 700 of file skywatcherAPI.cpp.

◆ SetClockTicksPerMicrostep()

bool SkywatcherAPI::SetClockTicksPerMicrostep	(	AXISID	Axis,
		long	ClockTicksPerMicrostep
	)

Set the PIC internal divider variable which determines how many clock interrupts have to occur between each microstep.

Definition at line 711 of file skywatcherAPI.cpp.

◆ SetEncoder()

bool SkywatcherAPI::SetEncoder	(	AXISID	Axis,
		long	Microsteps
	)

Set axis encoder to the specified value.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps	- the value in microsteps.

Returns: false failure

Definition at line 676 of file skywatcherAPI.cpp.

◆ SetFeature()

void SkywatcherAPI::SetFeature	(	AXISID	axis,
		uint32_t	command
	)

Definition at line 1036 of file skywatcherAPI.cpp.

◆ SetGotoTargetOffset()

bool SkywatcherAPI::SetGotoTargetOffset	(	AXISID	Axis,
		long	OffsetInMicrosteps
	)

Set the goto target offset per the specified axis.

Parameters

[in]	Axis	- The axis to use.
[in]	OffsetInMicrosteps	- the value to use

Returns: false failure

Definition at line 686 of file skywatcherAPI.cpp.

◆ SetSerialPort()

void SkywatcherAPI::SetSerialPort ( int port )

inline

Set the serail port to be usb for mount communication.

Parameters

[in] port - an open file descriptor for the port to use.

Definition at line 277 of file skywatcherAPI.h.

◆ SetSlewModeDeccelerationRampLength()

bool SkywatcherAPI::SetSlewModeDeccelerationRampLength	(	AXISID	Axis,
		long	Microsteps
	)

Set the length of the deccelaration ramp for Slew mode.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps	- the length of the decceleration ramp in microsteps.

Returns: false failure

Definition at line 721 of file skywatcherAPI.cpp.

◆ SetSlewToModeDeccelerationRampLength()

bool SkywatcherAPI::SetSlewToModeDeccelerationRampLength	(	AXISID	Axis,
		long	Microsteps
	)

Set the length of the deccelaration ramp for SlewTo mode.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps	- the length of the decceleration ramp in microsteps.

Returns: false failure

Definition at line 731 of file skywatcherAPI.cpp.

◆ Slew()

void SkywatcherAPI::Slew	(	AXISID	Axis,
		double	SpeedInRadiansPerSecond,
		bool	IgnoreSilentMode = `true`
	)

Start the axis slewing at the given rate.

Parameters

[in]	Axis	- The axis to use.
[in]	SpeedInRadiansPerSecond	- the slewing speed
[in]	IgnoreSilentMode	- ignore the silent mode even if set

Definition at line 748 of file skywatcherAPI.cpp.

◆ SlewTo()

void SkywatcherAPI::SlewTo	(	AXISID	Axis,
		long	OffsetInMicrosteps,
		bool	verbose = `true`
	)

Slew to the given offset and stop.

Parameters

[in]	Axis	- The axis to use.
[in]	OffsetInMicrosteps	- The number of microsteps to
[in]	verbose	- Verbose mode slew from the current axis position.

Definition at line 797 of file skywatcherAPI.cpp.

◆ SlowStop()

bool SkywatcherAPI::SlowStop ( AXISID Axis )

Bring the axis to slow stop in the distance specified by SetSlewModeDeccelerationRampLength.

Parameters

[in] Axis - The axis to use.

Returns: false failure

Definition at line 868 of file skywatcherAPI.cpp.

◆ StartAxisMotion()

bool SkywatcherAPI::StartAxisMotion ( AXISID Axis )

Start the axis slewing in the previously selected mode.

Parameters

[in] Axis - The axis to use.

Returns: false failure

Definition at line 876 of file skywatcherAPI.cpp.

◆ TalkWithAxis()

bool SkywatcherAPI::TalkWithAxis	(	AXISID	Axis,
		SkywatcherCommand	Command,
		std::string &	cmdDataStr,
		std::string &	responseStr
	)

Definition at line 883 of file skywatcherAPI.cpp.

◆ toggleSnapPort()

bool SkywatcherAPI::toggleSnapPort ( bool enabled )

Toggle the snap port on or off.

Parameters

[in] enabled - the state requested.

Definition at line 741 of file skywatcherAPI.cpp.

◆ TurnDEEncoder()

void SkywatcherAPI::TurnDEEncoder ( bool on )

Definition at line 1031 of file skywatcherAPI.cpp.

◆ TurnEncoder()

void SkywatcherAPI::TurnEncoder	(	AXISID	axis,
		bool	on
	)

Definition at line 1016 of file skywatcherAPI.cpp.

◆ TurnRAEncoder()

void SkywatcherAPI::TurnRAEncoder ( bool on )

Definition at line 1026 of file skywatcherAPI.cpp.

Member Data Documentation

◆ AxesStatus

AXISSTATUS SkywatcherAPI::AxesStatus[2]

Definition at line 405 of file skywatcherAPI.h.

◆ AxisFeatures

SkyWatcherFeatures SkywatcherAPI::AxisFeatures[2]

Definition at line 386 of file skywatcherAPI.h.

◆ CurrentEncoders

long SkywatcherAPI::CurrentEncoders[2]

Current encoder values (microsteps).

Definition at line 399 of file skywatcherAPI.h.

◆ DBG_SCOPE

unsigned int SkywatcherAPI::DBG_SCOPE { 0 }

protected

Definition at line 410 of file skywatcherAPI.h.

◆ DegreesPerMicrostep

double SkywatcherAPI::DegreesPerMicrostep[2]

Definition at line 391 of file skywatcherAPI.h.

◆ HighSpeedRatio

long SkywatcherAPI::HighSpeedRatio[2]

Definition at line 384 of file skywatcherAPI.h.

◆ IsDCMotor

bool SkywatcherAPI::IsDCMotor { false }

Definition at line 378 of file skywatcherAPI.h.

◆ LastSlewToTarget

long SkywatcherAPI::LastSlewToTarget[2]

Definition at line 396 of file skywatcherAPI.h.

◆ LOW_SPEED_MARGIN

constexpr double SkywatcherAPI::LOW_SPEED_MARGIN { 128.0 * SIDEREALRATE }

staticconstexpr

Definition at line 117 of file skywatcherAPI.h.

◆ LowSpeedGotoMargin

long SkywatcherAPI::LowSpeedGotoMargin[2]

Definition at line 393 of file skywatcherAPI.h.

◆ MAX_SPEED

constexpr double SkywatcherAPI::MAX_SPEED { 500.0 }

staticconstexpr

Definition at line 116 of file skywatcherAPI.h.

◆ MCVersion

unsigned long SkywatcherAPI::MCVersion { 0 }

Definition at line 334 of file skywatcherAPI.h.

◆ MicrostepsPerDegree

double SkywatcherAPI::MicrostepsPerDegree[2]

Definition at line 392 of file skywatcherAPI.h.

◆ MicrostepsPerRadian

double SkywatcherAPI::MicrostepsPerRadian[2]

Definition at line 390 of file skywatcherAPI.h.

◆ MicrostepsPerRevolution

long SkywatcherAPI::MicrostepsPerRevolution[2]

Definition at line 382 of file skywatcherAPI.h.

◆ MicrostepsPerWormRevolution

long SkywatcherAPI::MicrostepsPerWormRevolution[2]

Definition at line 385 of file skywatcherAPI.h.

◆ MountCode

unsigned long SkywatcherAPI::MountCode { 0 }

Definition at line 377 of file skywatcherAPI.h.

◆ pChildTelescope

INDI::Telescope* SkywatcherAPI::pChildTelescope { nullptr }

Definition at line 424 of file skywatcherAPI.h.

◆ PolarisPositionEncoders

long SkywatcherAPI::PolarisPositionEncoders[2]

Polaris position (initial) encoder values (microsteps).

Definition at line 401 of file skywatcherAPI.h.

◆ RadiansPerMicrostep

double SkywatcherAPI::RadiansPerMicrostep[2]

Definition at line 389 of file skywatcherAPI.h.

◆ SIDEREALRATE

constexpr double SkywatcherAPI::SIDEREALRATE { (2 * M_PI / 86164.09065) }

staticconstexpr

Definition at line 115 of file skywatcherAPI.h.

◆ SilentSlewMode

bool SkywatcherAPI::SilentSlewMode { true }

Definition at line 379 of file skywatcherAPI.h.

◆ SlewingSpeed

double SkywatcherAPI::SlewingSpeed[2]

Definition at line 406 of file skywatcherAPI.h.

◆ StepperClockFrequency

long SkywatcherAPI::StepperClockFrequency[2]

Definition at line 383 of file skywatcherAPI.h.

◆ ZeroPositionEncoders

long SkywatcherAPI::ZeroPositionEncoders[2]

Zero position encoder values (microsteps).

Definition at line 403 of file skywatcherAPI.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ SkyWatcherFeatures

Member Enumeration Documentation

◆ AXISID

◆ MountType

◆ PositiveRotationSense_t

◆ SkywatcherCommand

◆ SkywatcherGetFeatureCmd

◆ SkywatcherSetFeatureCmd

Constructor & Destructor Documentation

◆ SkywatcherAPI()

◆ ~SkywatcherAPI()

Member Function Documentation

◆ BCDstr2long()

◆ CheckIfDCMotor()

◆ DegreesPerSecondToClocksTicksPerMicrostep()

◆ DegreesToMicrosteps()

◆ GetEncoder()

◆ GetHighSpeedRatio()

◆ GetMicrostepsPerRevolution()

◆ GetMicrostepsPerWormRevolution()

◆ GetMotorBoardVersion()

◆ GetPositiveRotationDirection()

◆ GetStatus()

◆ GetStepperClockFrequency()

◆ HasAuxEncoders()

◆ HasHomeIndexers()

◆ HasPolarLed()

◆ HasPPEC()

◆ HasSnapPort1()

◆ HasSnapPort2()

◆ Highstr2long()

◆ InitializeMC()

◆ InitMount()

◆ InquireFeatures()

◆ InstantStop()

◆ IsInMotion()

◆ Long2BCDstr()

◆ MicrostepsToDegrees()

◆ MicrostepsToRadians()

◆ mountTypeToString()

◆ PrepareForSlewing()

◆ RadiansPerSecondToClocksTicksPerMicrostep()

◆ RadiansToMicrosteps()

◆ SetAxisMotionMode()

◆ SetClockTicksPerMicrostep()

◆ SetEncoder()

◆ SetFeature()

◆ SetGotoTargetOffset()

◆ SetSerialPort()

◆ SetSlewModeDeccelerationRampLength()

◆ SetSlewToModeDeccelerationRampLength()

◆ Slew()

◆ SlewTo()

◆ SlowStop()

◆ StartAxisMotion()

◆ TalkWithAxis()

◆ toggleSnapPort()

◆ TurnDEEncoder()

◆ TurnEncoder()

◆ TurnRAEncoder()

Member Data Documentation

◆ AxesStatus

◆ AxisFeatures

◆ CurrentEncoders

◆ DBG_SCOPE

◆ DegreesPerMicrostep

◆ HighSpeedRatio

◆ IsDCMotor

◆ LastSlewToTarget

◆ LOW_SPEED_MARGIN

◆ LowSpeedGotoMargin