astrogoto | simple Goto with remote BT

AstroGoto is a C++ library. AstroGoto has no bugs, it has no vulnerabilities, it has a Strong Copyleft License and it has low support. You can download it from GitLab.

// Very simple Goto with remote BT for Astronomical Equatorial stand. // Tested with EQ5 but should works on any stand with "4 cables" stepper motors. // v1.02 - 07/2016 By Sylvain GIRAUD. // v1.03 - 05/2017 By Sylvain GIRAUD - Added calibration with 2 stars. // For EQ5 Motor Drive stepper motors Tracking + Goto with remote command via Bluetooth. // RA = Asc Dte = AD. // DEC = Declination. // Do by default Tracking of RA (0,25 per minute, 1 roundtrip in 24h). // Get commands degres or steps for Asc Dte + Dec from Serial BT HC-06 and do Goto. Can do both simultaneously. // Optimized speed for tracking and goto (Interleave and Double). // Backlash: Compensate direction change and mechanical lag for A and D (always ends goto by positive steps). // Including compensate mechanical lag when change direction to redo tracking asap: 760steps clockwise if previous goto was anticlockwise. // Correction of conversion degres to steps using actual measures of 360 degres. 2 stars calibration possible. // Other commands possible, see printHelp();. // Get help: send "h" to Arduino. // Show state and parameters. // Run a calibration using 2 known stars. // Change default values. // Reset to orginal values and state as on boot. // Inhibit/Restore Asc Dte tracking. // Manual moves for control pad. // Fastest speed tested OK: 1 round (6000 steps, DOUBLE) in 12 seconds. // Catchup tracking while goto: missed steps during duration of gotoSpeed. // Do power release forced to prevent L293D heating with slow speed (slowTrackingReleaseTime).