/
mount.py
155 lines (112 loc) · 4.38 KB
/
mount.py
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import socket
import sys
from parse import *
import time
import serial
import datetime
import ephem
import threading
from smart_motor import Smartmotor
from ui import UI
#----------------------------------------------------------
MAX_RA = 3352455
class Mount:
def __init__(self, gui):
self.gui = gui
self.motor_DEC = Smartmotor('COM8', gui)
self.motor_RA = Smartmotor('COM9', gui)
self.motor_DEC.Acceleration(120)
self.motor_RA.Acceleration(120)
self.ephem = ephem.city('San Francisco')
self.sky_angle = self.siderial_angle()
def set_RA(self, ra):
self.motor_RA.SetPos(self.ra_to_pos(ra))
def set_DEC(self, dec):
self.motor_DEC.SetPos(self.dec_to_pos(dec))
def siderial_angle(self):
self.ephem.date = datetime.datetime.now()
return 57.29580026*self.ephem.sidereal_time()
def RA_Rotation(self): #angle per worm gear rotation
return(360.0/225.0)
def DEC_Rotation(self): #angle per worm gear rotation
return(360.0/225.0)
def RA_rate(self, rate=15.0): #motion rate (in arcsec per second)
unity_rate_0 = self.motor_RA.calc_rps()
unity_rate = self.RA_Rotation() * 3600.0 #this would be one RPS arcsec rate
divider = rate / unity_rate
self.motor_RA.Speed(unity_rate_0 * divider)
self.motor_RA.Go()
def DEC_rate(self, rate=0.0): #motion rate (in arcsec per second)
unity_rate_0 = self.motor_DEC.calc_rps()
unity_rate = self.DEC_Rotation() * 3600.0 #this would be one RPS arcsec rate
divider = rate / unity_rate
self.motor_DEC.Speed(unity_rate_0 * divider)
self.motor_DEC.Go()
def ra_to_pos(self, ra): #map RA value (0..360) to target encoder value
delta_RA = self.siderial_angle() #second for the reference RA
ra = ra + delta_RA
ra = ra % 360
ra = ra / self.RA_Rotation()
ra = self.motor_RA.rotation_to_position(ra)
return ra
def dec_to_pos(self, dec): #map DEC value (-90..90) to target encoder value
dec = dec / self.DEC_Rotation()
dec = self.motor_DEC.rotation_to_position(dec)
return dec
def pos_to_RA(self, pos): # map encoder to RA
#pos = pos % MAX_RA
pos = self.motor_RA.position_to_rotation(pos)
pos = pos * self.RA_Rotation()
delta_RA = self.siderial_angle()
ra = pos - delta_RA
ra = ra % 360
return ra
def pos_to_DEC(self, pos): #map encoder to DEC
pos = self.motor_DEC.position_to_rotation(pos)
pos = pos * self.DEC_Rotation()
return pos
def target_pos(self, ra, dec):
vra = self.ra_to_pos(ra)
vdec = self.dec_to_pos(dec)
self.motor_DEC.Target(vdec)
self.motor_RA.Target(vra)
self.motor_DEC.Go()
self.motor_RA.Go()
time.sleep(0.01)
def get_RA(self):
p_RA = self.motor_RA.getPosition()
self.gui.set("Encoder_RA", p_RA)
#p_RA = p_RA % MAX_RA
ra = self.pos_to_RA(p_RA)
if (ra > 360.0 or ra < 0.0):
ra = ra % 360
self.set_RA(ra)
self.last_ra = ra
return ra
def get_RA_speed(self):
speed_RA = self.motor_RA.getSpeed()
return speed_RA
def get_DEC_speed(self):
speed_DEC = self.motor_DEC.getSpeed()
return speed_DEC
def get_DEC(self):
p_DEC = self.motor_DEC.getPosition()
self.gui.set("Encoder_DEC", p_DEC)
dec = self.pos_to_DEC(p_DEC)
self.last_dec = dec
return dec
def track(self, rate_ra, rate_dec):
self.RA_rate(rate_ra)
self.DEC_rate(rate_dec)
self.motor_RA.writeser('MV ')
self.motor_DEC.writeser('MV ')
self.motor_DEC.Go()
self.motor_RA.Go()
seq = 0
while(True):
time.sleep(1)
seq = seq + 1
self.motor_RA.SpeedAdjust()
self.motor_DEC.SpeedAdjust()
print("v", self.get_RA(), self.get_DEC(), self.get_RA_speed(), self.get_DEC_speed())
#----------------------------------------------------------