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INDI Library v2.0.6 is Released (02 Feb 2024)

Bi-monthly release with minor bug fixes and improvements

INDI focuser driver for Waveshare Stepper Motor HAT for Raspberry Pi / Rock Pi

  • Posts: 421
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Awesome, glad you got it working!

I updated the version to 1.1. Thanks for the reminder about that.
The following user(s) said Thank You: Jon Carleton
2 years 9 months ago #71994

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This latest version has introduced a bug in the backlash correction.
When I issue a move Out it will move out, then in, then out again. Even if I do not change directions. 
And when I move In, no backlash steps are applied. 
Otherwise the abort feature and live position is working nicely. 
Thank you. 
2 years 9 months ago #72052

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I changed how the backlash compensation behaves. In previous versions, it was quite simple. If you change directions, it will add whatever you specify in the backlash field.

Now, it behaves different. Now, it will attempt to always approach the desired focus position from the same direction. If you're moving in, then great, it will just move the desired number of steps. If you're moving out, it will deliberately overshoot (by whatever you set in the backlash field), then move in to the desired position. This is a more reliable way to deal with backlash. Just set the backlash field to some large number, greater than however big the actual backlash is. The actual number doesn't matter, as long as it's big enough.

With this new behavior in mind, if you still think there's a bug, please let me know.

-- Kevin
2 years 9 months ago #72053

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If that is the case. Then there is still an issue. If I understand your description correctly. All movements will finish in the same direction. My inward travel with no additional movement is in a Clockwise (CW) direction. But my outward direction moves CCW, CW, CCW. 
Thus the next time I move inwards the backlash is not being accounted for. 
To work the way you described it should move CW, CCW, CW. 

Personally I prefer the simple traditional approach. And if I need the focuser to approach from one direction, I would use linear algorithm. 
2 years 9 months ago #72055

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You are correct, the new version is completely borked with regards to backlash compensation. Seems when I merged branches together, the merge succeeded, but the end result is not what I wanted. And since I don't use that particular feature myself, I didn't notice it was broken.

I will go back to the old method, since you are right, one can use the linear method if they want that functionality. I should have this checked in later tonight.

Thanks!
-- Kevin
2 years 9 months ago #72056

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Thank you. I greatly appreciate all your efforts.
2 years 9 months ago #72057

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Okay I reverted the backlash code to the old method. Please let me know if it works properly for you.

-- Kevin
2 years 9 months ago #72059

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Backlash looks good. Only thing I have to add is increasing the maximum backlash value from 500.
I have a high gear reduction setup and my backlash is 1020 steps, so I edited it to a maximum of 1500.
2 years 9 months ago #72061

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For the record, I managed to compile the latest upload on both the x86_64 and Pi4 (running Ubuntu Mate). I did get some depreciation warnings on the Pi4 compile, but not the x86_64 (odd that). Both versions seem to work, though.

Thanks again!
2 years 9 months ago #72160

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It seems there is now a rev. 2.1 of the board, which is incompatible with code for the original version. They swapped the polarity of the motor enable GPIO pin from the Pi to the HAT. As you know, when you first power up the Pi, it immediately applies power to the motor, until something (such as my driver) tells it to turn off. That's because the enable pin was active low, and since the Pi puts out zeros on all the GPIO pins on startup, it starts out with the motor enabled (and drawing power, and heating up). I guess they got enough complaints, so now the enable pin is active high. But this means existing code must now have an option to know what version of the board is installed.

So I will be adding an option to the INDI control panel at some point in the near future.
2 years 9 months ago #72169

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Bummer, that. Just when you think it is safe to put down the crayons.
2 years 9 months ago #72177

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That's great. The enable pin setup they had was so stupid I had to add a pull up resistor to prevent the motor from melting down. Hopefully they have an updated library that will work both versions with the same instructions.
2 years 9 months ago #72179

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