def test(sg1: common.stargate):
print("--- read current degrees ---")
print("current degrees = " + str(sg1.motor_dec.get_degree()))
print("--- set degree to 0 ---")
sg1.motor_dec.set_degree(0)
print("current degrees = " + str(sg1.motor_dec.get_degree()))
print("--- call move_degree ---")
threading2 = threading.Thread(target=sg1.motor_dec.move_degree(10, 5, sg1))
threading2.daemon = True
threading2.start()
threading2.join()
print("---start ---")
time.sleep(1)
print("---after 1sec ---")
print("current steps = " + str(sg1.motor_dec.get_steps()))
print("current degrees = " + str(sg1.motor_dec.get_degree()))
time.sleep(5)
print("--- after 5sec ---")
print("current steps = " + str(sg1.motor_dec.get_steps()))
print("current degrees = " + str(sg1.motor_dec.get_degree()))
time.sleep(10)
print("--- after 10sec ---")
print("current steps = " + str(sg1.motor_dec.get_steps()))
print("current degrees = " + str(sg1.motor_dec.get_degree()))
time.sleep(20)
print("--- after 20sec ---")
print("current steps = " + str(sg1.motor_dec.get_steps()))
print("current degrees = " + str(sg1.motor_dec.get_degree()))
print("--- END ---")
common.read_character()
def mode_test(sg1):
MOTOR_BASEADDR = 0x43c40000 + (0x2000 * 4)
Motor_1_steps = 0x0A
Motor_1_command = 0x08
motor1 = motor(MOTOR_BASEADDR, Motor_1_command, Motor_1_steps, 5)
print(motor1.get_steps())
motor1.set_steps(33)
print(motor1.get_steps())
thread1 = threading.Thread(target=motor1.set_steps(66))
thread1.daemon = True
thread1.start()
thread1.join()
print(motor1.get_steps())
cord = class_steps.hl_goto_koord(0, 0, 5, 15)
print(cord.get_rektanzension())
print(cord.get_deklination())
threading2 = threading.Thread(target=motor1.move(200, 0, 1))
threading2.daemon = True
threading2.start()
threading2.join()
print("ok")
time.sleep(1)
print(motor1.get_steps())
print(motor1.get_degree())
cmd_in = common.read_character()
def test(sg1: common.stargate):
print('start')
sg1.mystatus.observe = "TRUE"
eph = magic.ephemeris_calculations(None, sg1.mydata.gps_latitude,
sg1.mydata.gps_longitude,
sg1.mydata.gps_altitude)
eph.make_new_objekt("star", "Vega")
#eph.get_pos_spherical(dict1)
#print(dict1)
print('thread')
threadingc = threading.Thread(target=eph.get_pos_spherical, args=(sg1, ))
threadingc.daemon = True
threadingc.start()
print(sg1.mycalc.ra_sp)
print(sg1.mycalc.dec_sp)
print('ra')
sg1.motor_ra.move_degree(sg1.mycalc.ra_sp, 2, sg1)
print('dec')
sg1.motor_dec.move_degree(sg1.mycalc.dec_sp, 2, sg1)
common.read_character()
def main(sg1):
# flags
kill = []
gps_setup = True
# start thread
thread1 = threading.Thread(target=print_setup,
args=(sg1, 'continius', kill))
thread1.daemon = True
thread1.start()
while gps_setup:
cmd_in = common.read_character()
if cmd_in == 'x':
kill.append(True)
gps_setup = False
print('gps setup finished? [y/n]')
print('press x to exit gps setup without saving')
cmd_in = common.read_character()
if cmd_in == 'y':
sg1.mydata.set_nmod_gps(True)
common
elif cmd_in == 'n':
main()
elif cmd_in == 'x':
sg1.mydata.set_nmod_gps(False)
else:
main()
print('set system date and time to: ' +
str(sg1.mydata.get_gps_time()) + ' [y/n]')
print('press x to exit without seting date and time')
cmd_in = common.read_character()
if cmd_in == 'y':
common.set_time(sg1.mydata)
elif cmd_in == 'n':
main()
elif cmd_in == 'x':
gps_setup = False
else:
main()
def main(sg1: common.stargate):
# flags
print()
print('------------ Set polaris ------------')
print('--------------------------------------')
print(" motor ra: " + str(sg1.motor_ra.get_steps()))
print(" motor dec: " + str(sg1.motor_dec.get_steps()))
print('--------------------------------------')
print('please aligne the telescope to the northstar')
print('press x to exit')
cmd_in = common.read_character()
if cmd_in == 'x':
print('aligment finished, set step to ra=0 und dec=0? [y/n]')
print('press x to exit without setting steps')
cmd_in = common.read_character()
if cmd_in == 'y':
threading_decS = threading.Thread(
target=sg1.motor_dec.move_steps(1, 0, 5, 1))
threading_decS.daemon = True
threading_decS.start()
threading_raS = threading.Thread(
target=sg1.motor_ra.move_steps(1, 0, 5, 1))
threading_raS.daemon = True
threading_raS.start()
sg1.mydata.set_polaris(True)
sg1.motor_ra.set_degree(90 * (-1))
sg1.motor_dec.set_degree(90 * (-1))
print('--------------------------------------')
print(" motor1 ra: " + str(sg1.motor_ra.get_steps()))
print(" motor1 dec: " + str(sg1.motor_dec.get_steps()))
print('--------------------------------------')
time.sleep(1)
elif cmd_in == 'n': #HIR vll gef
main(sg1)
elif cmd_in == 'x':
sg1.mydata.set_polaris(False)
else:
main(sg1)
def test(myData):
print("star1")
print(myData.get_T_sp())
calc_spherical_to_cartesian(myData, 0, 10.1, 20.3, 30.5, 19.9, 29.6)
calc_spherical_to_cartesian(myData, 1, 10.1, 50.3, 80.5, 50.3, 80.5)
calc_spherical_to_cartesian(myData, 2, 10.1, 70.3, 110.5, 70.3, 110.5)
print(myData.get_T_sp())
calc_T_corr(myData)
print("start2")
calc_sp_corr(myData, 10.1, 20.3, 30.5)
'''
print("TEST vektor")
mat = np.array([(1,-1,2), (0,-3,1)])
vec = np.array([(2),(1),(0)])
vec_sp = mat * vec
print(mat)
print("*")
print(vec)
print("=")
print(vec_sp)
'''
common.read_character()
def test2(sg1: common.stargate):
print('create object of observation ... ')
sg1.mystatus.observe = "TRUE"
eph = magic.ephemeris_calculations(None, sg1.mydata.gps_latitude,
sg1.mydata.gps_longitude,
sg1.mydata.gps_altitude)
eph.make_new_objekt("star", "Vega")
print('start calculations ... ')
print('thread')
threading1 = threading.Thread(name='calc',
target=eph.get_pos_spherical,
args=(sg1, ))
threading1.daemon = True
threading1.start()
print('start observation ... ')
time.sleep(2)
threading3 = threading.Thread(name='header',
target=header,
args=(sg1, "Vega"))
threading3.daemon = True
threading3.start()
while (sg1.mystatus.observe == "TRUE"):
cmd_in = common.read_character()
if cmd_in == 'x':
sg1.mystatus.observe = "False"
elif cmd_in == 's':
threading4 = threading.Thread(
target=sg1.motor_dec.move_steps(10, 0, 5, 1))
threading4.daemon = True
threading4.start()
threading5 = threading.Thread(
target=sg1.motor_ra.move_steps(10, 0, 5, 1))
threading5.daemon = True
threading5.start()
elif cmd_in == 'g':
threading6 = threading.Thread(target=sg1.motor_ra.move_degree,
args=(sg1.mycalc.ra_sp, 5))
threading6.daemon = True
threading6.start()
elif cmd_in == 'm':
sg1.mystatus.observe = "MANUAL"
motor_control.mode_manual(sg1)
elif 'manual_correction' in answers["tasks"]:
motor_control.mode_manual(sg1)
elif 'star3_verification' in answers["tasks"]:
star3_verification.main(sg1)
elif 'goto' in answers["tasks"]:
goto.main(sg1)
elif 'observe' in answers["tasks"]:
observe.main(sg1)
elif 'test' in answers["tasks"]:
#motor_control.mode_test(sg1)
#magic.test_runtime_star(sg1)
#magic.test_runtime_planet(sg1)
#magic.test_runtime_moon(sg1)
#magic.test_runtime_sat(sg1)
motor_control.test(sg1)
common.read_character()
elif 'debug mode' in answers["tasks"]:
if sg1.mydata.get_debug_mode() == False:
sg1.mydata.set_debug_mode(True)
elif sg1.mydata.get_debug_mode() == True:
sg1.mydata.set_debug_mode(False)
elif 'exit' in answers["tasks"]:
running = False
def main(sg1: common.stargate, target=None):
if target == None and sg1.mytarget.target == None:
print('no target selected')
sg1.mystatus.observe = "False"
time.sleep(1)
else:
print('start')
# creating an target object
sg1.mystatus.observe = "TRUE"
eph = magic.ephemeris_calculations(None, sg1.mydata.gps_latitude,
sg1.mydata.gps_longitude,
sg1.mydata.gps_altitude)
eph.make_new_objekt("star", str(target))
print('start calculations ... ')
print('thread')
# calculation the angles of the target
threading_calc = threading.Thread(name='calc',
target=eph.get_pos_spherical,
args=(sg1, ))
threading_calc.daemon = True
threading_calc.start()
#threading6 = threading.Thread(target=sg1.motor_ra.move_steps(64836,0,2,0))
#threading6.daemon = True
#threading6.start()
# starting the motors
threading_ra = threading.Thread(name='ra',
target=sg1.motor_ra.move_degree,
args=(sg1.mycalc.ra_sp, 2, sg1))
threading_ra.daemon = True
threading_ra.start()
threading_dec = threading.Thread(name='dec',
target=sg1.motor_dec.move_degree,
args=(sg1.mycalc.dec_sp, 2, sg1))
threading_dec.daemon = True
threading_dec.start()
# header
threading_header = threading.Thread(name='header',
target=header,
args=(sg1, sg1.mytarget.target))
threading_header.daemon = True
threading_header.start()
# keyboard input
while (sg1.mystatus.observe == "TRUE"):
cmd_in = common.read_character()
if cmd_in == 'x':
sg1.mystatus.observe = False
os.system('clear')
elif cmd_in == 'g':
threading6 = threading.Thread(
target=sg1.motor_dec.move_steps(10, 0, 5, 1))
threading6.daemon = True
threading6.start()
elif cmd_in == 's':
threading_decS = threading.Thread(
target=sg1.motor_dec.move_steps(0, 0, 5, 1))
threading_decS.daemon = True
threading_decS.start()
threading_raS = threading.Thread(
target=sg1.motor_ra.move_steps(0, 0, 5, 1))
threading_raS.daemon = True
threading_raS.start()
elif cmd_in == 'm':
sg1.mystatus.observe = "MANUAL"
motor_control.mode_manual(sg1)
elif cmd_in == 'y':
sg1.mystatus.observe = "MANUAL"
motor_control.mode_manual(sg1)
def get_degree_z(x, y, z):
zAngle = math.atan(math.sqrt((x * x) + (y * y)) / z)
zAngle = zAngle * 180 / 3.141592
return zAngle
def get_compass(x, y):
D = math.atan(y / x) * 180 / 3.141592
return D
qm = class_queue.QueueMap()
while True:
cmd_in = common.read_character()
if cmd_in == 'v':
print('starting')
thread1 = threading.Thread(nav.acc_get_value(qm))
thread1.daemon = True
thread1.start()
print(threading.active_count())
thread1.join()
print(threading.active_count())
print('done')
print(qm.pop('acc_x'))
print(qm.pop('acc_y'))
print(qm.pop('acc_z'))
time.sleep(3)
elif cmd_in == 'e':
sys.exit()
def mode_manual(sg1: common.stargate):
manual_on = True
motor_speed = 5
mot_dec_pos_start = sg1.motor_dec.get_steps()
mot_ra_pos_start = sg1.motor_ra.get_steps()
while manual_on:
common.header_move(sg1)
print('speed: ' + str(motor_speed))
cmd_in = common.read_character()
if cmd_in == 'w':
# move dec north
threading2 = threading.Thread(
target=sg1.motor_dec.move_steps(100, 0, motor_speed, 1))
threading2.daemon = True
threading2.start()
threading2.join()
elif cmd_in == 's':
# move dec south
threading2 = threading.Thread(
target=sg1.motor_dec.move_steps(100, 0, motor_speed, 0))
threading2.daemon = True
threading2.start()
threading2.join()
elif cmd_in == 'a':
# move ra east
threading2 = threading.Thread(
target=sg1.motor_ra.move_steps(100, 0, motor_speed, 1))
threading2.daemon = True
threading2.start()
threading2.join()
elif cmd_in == 'd':
# move ra west
threading2 = threading.Thread(
target=sg1.motor_ra.move_steps(100, 0, motor_speed, 0))
threading2.daemon = True
threading2.start()
threading2.join()
elif cmd_in == 'q':
# increase pause between steps
motor_speed = motor_speed + 1
if motor_speed > 10:
motor_speed = 10
print(motor_speed)
elif cmd_in == 'e':
# decrease pause between steps
motor_speed = motor_speed - 1
if motor_speed < 1:
motor_speed = 1
print(motor_speed)
elif cmd_in == 'x':
# exit
mot_dec_pos_diff = sg1.motor_dec.get_steps() - mot_dec_pos_start
mot_ra_pos_diff = sg1.motor_ra.get_steps() - mot_ra_pos_start
sg1.mydata.set_motor_dec_diff(mot_dec_pos_diff)
sg1.mydata.set_motor_ra_diff(mot_ra_pos_diff)
manual_on = False
if sg1.mystatus.observe == "MANUAL":
if sg1.mytarget.target == sg1.mytarget.star1:
sg1.mytarget.star1_ok = "finished"
elif sg1.mytarget.target == sg1.mytarget.star2:
sg1.mytarget.star2_ok = "finished"
elif sg1.mytarget.target == sg1.mytarget.star3:
sg1.mytarget.star3_ok = "finished"
star3_verification.select(sg1)