1 // ST4
2 // 
3 // Arduino ST4 is free software: you can redistribute it and/or modify 
4 // it under the terms of the GNU Lesser General Public License as published by 
5 // the Free Software Foundation, either version 3 of the License, or 
6 // (at your option) any later version. 
7 // 
8 // Arduino ST4 is distributed in the hope that it will be useful, 
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of 
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
11 // GNU Lesser General Public License for more details. 
12 // 
13 // You should have received a copy of the GNU Lesser General Public License 
14 // along with Arduino ST4.  If not, see <http://www.gnu.org/licenses/>. 
15 // 
16 // Copyright Kevin Ferrare 2014 
17 
 
18 /* 
19  * Led indicates whether the software requested connection, it is shut off when the software disconnects 
20  */ 
21 const int pinLED = 13; 
22 
 
23 /** 
24  * An axis has a pin per direction. 
25  * Both pins cannot be up at the same time. 
26  */ 
27 class Axis { 
28 private: 
29   int plusPin; 
30   int minusPin; 
31 public: 
32   Axis(int plusPin, int minusPin) :  
33   plusPin(plusPin), minusPin(minusPin) { 
34   } 
35   void setupPins(){ 
36     pinMode(this->plusPin, OUTPUT); 
37     pinMode(this->minusPin, OUTPUT); 
38   } 
39   void plus(){ 
40     digitalWrite(this->minusPin, LOW); 
41     digitalWrite(this->plusPin, HIGH); 
42   } 
43   void minus(){ 
44     digitalWrite(this->plusPin, LOW); 
45     digitalWrite(this->minusPin, HIGH); 
46   } 
47   void reset(){ 
48     digitalWrite(this->minusPin, LOW); 
49     digitalWrite(this->plusPin, LOW); 
50   } 
51 }; 
52 
 
53 class Axis rightAscension( 
54 2,//RA+ pin 
55 5);//RA- pin 
56 class Axis declination( 
57 3,//DEC+ pin 
58 4);//DEC- pin 
59 
 
60 void setup() 
61 { 
62   rightAscension.setupPins(); 
63   declination.setupPins(); 
64   pinMode(pinLED, OUTPUT); 
65   //57.6k, 8 data bits, no parity, one stop bit. 
66   Serial.begin(57600, SERIAL_8N1); 
67   //Wait for serial port to connect. Needed for Leonardo only 
68   while (!Serial); 
69   Serial.println("INITIALIZED#"); 
70 } 
71 
 
72 void resetPins(){ 
73   rightAscension.reset(); 
74   declination.reset(); 
75 } 
76 
 
77 void loop() 
78 { 
79   if (Serial.available() > 0) { 
80     //Received something 
81     String opcode = Serial.readStringUntil('#'); 
82     boolean validOpcode=true; 
83     //Parse opcode 
84     if(opcode=="CONNECT"){ 
85       digitalWrite(pinLED, HIGH); 
86       resetPins(); 
87     } 
88     else if (opcode=="DISCONNECT"){ 
89       digitalWrite(pinLED, LOW); 
90       resetPins(); 
91     } 
92     else if(opcode=="RA0"){ 
93       rightAscension.reset(); 
94     } 
95     else if(opcode=="RA+"){ 
96       rightAscension.plus(); 
97     } 
98     else if(opcode=="RA-"){ 
99       rightAscension.minus(); 
100     } 
101     else if(opcode=="DEC0"){ 
102       declination.reset(); 
103     } 
104     else if(opcode=="DEC+"){ 
105       declination.plus(); 
106     } 
107     else if(opcode=="DEC-"){ 
108       declination.minus(); 
109     } 
110     else{ 
111       validOpcode=false; 
112     } 
113     if(validOpcode){ 
114       //Acknowledge valid command 
115       Serial.println("OK#"); 
116     } 
117   }  
118  }