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combine changes from my fork with changes to the main repo #1

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be60a72
wrote reverse movement functionality for focus motor, cleaned up some…
May 8, 2025
3194ad1
tested this code at mro - use focus controller new
timpy2by3 May 17, 2025
b7c6ca8
working focuser as of 5.17.2025; removed all print statements during …
timpy2by3 May 17, 2025
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182 changes: 93 additions & 89 deletions focusController.ino → focusController/focusController.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -20,14 +20,12 @@

#include <SPI.h>
#include <Ethernet.h>
#include <Thread.h>
#include <ThreadController.h>
#include <StaticThreadController.h>
// #include <Thread.h>
// #include <ThreadController.h>
// #include <StaticThreadController.h>

// MAC address and IP address for controller
byte mac[] = {
0xA8, 0x61, 0x0A, 0xAE, 0x25, 0x13
};
byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x25, 0x13};
IPAddress ip(192, 168, 1, 11);

// Initialize the Ethernet server library
Expand All @@ -36,7 +34,7 @@ IPAddress ip(192, 168, 1, 11);
EthernetServer server(80);

// Multithread for handling motor movement in background
Thread moveMotor = Thread();
// Thread moveMotor = Thread();

// Focuser fields
volatile int position = 0;
Expand Down Expand Up @@ -82,29 +80,69 @@ void setup() {
Serial.print("Server starting at ");
Serial.println(Ethernet.localIP());

//initialize thread
moveMotor.onRun(startMovement);
moveMotor.enabled = true;
// initialize thread
// moveMotor.onRun(startMovement);
// moveMotor.enabled = true;
}

// Code for formatting json return strings
void sendJSONResponse(EthernetClient client, int code, String body) {
client.println("HTTP/1.1 " + String(code) + " OK");
client.println("Content-Type: application/json");
client.println("Connection: close");
client.println();
client.println("{" + body + "}");
}

void loop() {
// listen for incoming clients
updatePosition();
EthernetClient client = server.available();
if (client) {
// Emulating the potentiometer position
void updatePosition() {
if (moving && (millis() - lastStepTime > stepDelay)) {
position += (target_steps > 0) ? 1 : -1;
target_steps -= (target_steps > 0) ? 1 : -1;
lastStepTime = millis();

if (target_steps == 0 || checkLimits()) {
moving = false;
position = constrain(position, down_limit, up_limit);
}
}
}

handleClient(client);
bool checkLimits() {
return (position >= up_limit) || (position <= down_limit);
}

// give the web browser time to receive the data
delay(1);
void startMovement() {
//Disable thread so another movement call won't overwrite the current movement
moving = true;

// close the connection:
client.stop();
//Serial.println("client disconnected");
// Period is 1/f, we want to convert to ms then divide by 2 since pulseTime should be half of a clock cycle
long pulseTime = long(float(1)*500000.0/clkFreq);

int i = 0;
while (i < moveSteps && !abortMovement) {
long pastTime = micros();
digitalWrite(clkPin, HIGH);
Serial.print("clkHigh");

// delay until halfway through period designated by clk_frequency
while (micros() - pastTime < pulseTime) {}

pastTime = micros();
digitalWrite(clkPin, LOW);
Serial.print("clkLow");

// delay until reach the end of period
while (micros() - pastTime < pulseTime) {}

i++;
}
}
Serial.println();
Serial.println("Movement Finished");

moving = false;
// moveMotor.enabled = true;
}

void handleClient(EthernetClient client) {
char request[128];
Expand All @@ -129,25 +167,35 @@ void handleClient(EthernetClient client) {
*/

/*
Command: move?steps
Paramters: steps: <int32>
Returns: {code: <int32>}
^ Descriptions of each json field are described in Focuser Arduino Specification Google Doc
Test code: "curl -X POST http://192.168.1.11/move?steps=500"
Command: move?steps
Paramters: steps: <int32>
Returns: {code: <int32>}
^ Descriptions of each json field are described in Focuser Arduino Specification Google Doc
Test code: "curl -X POST http://192.168.1.11/move?steps=500"
*/


if (strstr(request, "POST /move?steps")) {
char* stepsParam = strstr(request, "steps=");
if (stepsParam && moveMotor.shouldRun()) {
moveSteps = atoi(stepsParam + 6);
if (stepsParam) { // moveMotor.shouldRun()
// if the request contains '-', then switch to negative direction
char* negative = strstr(request, "-");
if (negative > stepsParam) {
digitalWrite(8, LOW); // is this the right value to write?
moveSteps = atoi(stepsParam + 7); // jump to the value after - sign
}
else {
digitalWrite(8, HIGH);
moveSteps = atoi(stepsParam + 6); // jump to the value after = sign
}

// now tell them we are moving
Serial.print("moving ");
Serial.println(moveSteps);

moveMotor.run();
}
// moveMotor.run();
startMovement();
sendJSONResponse(client, 200, "\"code\":200");
}

/*
Command: status
Paramters: None
Expand Down Expand Up @@ -182,66 +230,22 @@ void handleClient(EthernetClient client) {

sendJSONResponse(client, 300, "\"code\":300");
}
}
}

// Code for formatting json return strings
void sendJSONResponse(EthernetClient client, int code, String body) {
client.println("HTTP/1.1 " + String(code) + " OK");
client.println("Content-Type: application/json");
client.println("Connection: close");
client.println();
client.println("{" + body + "}");
}

// Emulating the potentiometer position
void updatePosition() {
if (moving && (millis() - lastStepTime > stepDelay)) {
position += (target_steps > 0) ? 1 : -1;
target_steps -= (target_steps > 0) ? 1 : -1;
lastStepTime = millis();

if (target_steps == 0 || checkLimits()) {
moving = false;
position = constrain(position, down_limit, up_limit);
}
}
}

bool checkLimits() {
return (position >= up_limit) || (position <= down_limit);
}

void startMovement() {

//Disable thread so another movement call won't overwrite the current movement
moveMotor.enabled = false;
moving = true;

// Period is 1/f, we want to convert to ms then divide by 2 since pulseTime should be half of a clock cycle
long pulseTime = long(float(1)*500000.0/clkFreq);

int i = 0;
while (i < moveSteps && !abortMovement) {
long pastTime = micros();
digitalWrite(clkPin, HIGH);
Serial.print("clkHigh");
void loop() {
// listen for incoming clients
updatePosition();
EthernetClient client = server.available();
if (client) {

// delay until halfway through period designated by clk_frequency
while (micros() - pastTime < pulseTime) {}

pastTime = micros();
digitalWrite(clkPin, LOW);
Serial.print("clkLow");
handleClient(client);

// delay until reach the end of period
while (micros() - pastTime < pulseTime) {}
// give the web browser time to receive the data
delay(1);

i++;
// close the connection:
client.stop();
// Serial.println("client disconnected");
}
Serial.println();
Serial.println("Movement Finished");

moving = false;
moveMotor.enabled = true;
}

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