Support for slow long goto

examples/goto0

@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+import synscan
+
+'''Goto example'''
+def run():
+  smc=synscan.motors()
+  #Slow down long goto
+  smc.axis_set_long_goto_step_period(1, 3000); # AZ
+  smc.axis_set_long_goto_step_period(2, 3000); # ALT
+  #move to 2° lower left before final point
+  #for 0,0 AZ should be 2° less, ALT should be 2° less
+  smc.goto(-2,-2,synchronous=True)
+  #Return to original position and exit without wait
+  smc.goto(0,0,synchronous=False)
+
+run()

examples/goto1

@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import synscan
+
+'''Goto example'''
+def run():
+  smc=synscan.motors()
+  #Slow down long goto
+  smc.axis_set_long_goto_step_period(1, 3000); # AZ
+  smc.axis_set_long_goto_step_period(2, 3000); # ALT
+  #Move forward and wait to finish
+  smc.goto(-1,-1,synchronous=True)
+  print(smc.axis_get_pos(1),smc.axis_get_pos(2))
+  #Return to original position and exit without wait
+  smc.goto(0,0,synchronous=False)
+  print(smc.axis_get_pos(1),smc.axis_get_pos(2))
+
+run()

examples/goto180

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import synscan
+
+'''Goto example'''
+def run():
+  smc=synscan.motors()
+  #Slow down long goto
+  smc.axis_set_long_goto_step_period(1, 3000); # AZ
+  smc.axis_set_long_goto_step_period(2, 3000); # ALT
+  #If counts per revolution are correct, after both axis turn 180
+  #the telescope should point to same target as 0,0
+  #smc.goto(180,180,synchronous=True)
+  #move to 2° lower left before final point
+  #for 180,180 AZ should be 2° less, ALT should be 2° more
+  smc.goto(177,178,synchronous=True)
+  #If counts per revolution are not correct
+  #experiment with this until telescope points to 0,0
+  smc.goto(179+17/60,175+46/60,synchronous=False)
+
+run()

examples/one_axis_variablespeedtrack.py

@@ -3,24 +3,26 @@
 '''One axis variable speed track example'''
 smc=synscan.motors()
 
-AXIS=2
-#FORWARD
-#RAMP UP
-for speed in range(0,50,1):
+def run():
+  AXIS=2
+  #FORWARD
+  #RAMP UP
+  for speed in range(0,50,1):
     time.sleep(.1)
     smc.axis_track(AXIS,speed/10)
-#RAMP DOWN
-for speed in range(50,0,-1):
+  #RAMP DOWN
+  for speed in range(50,0,-1):
     time.sleep(.1)
     smc.axis_track(AXIS,speed/10)
 
-#BACKWARDS
-#RAMP UP
-for speed in range(0,50,1):
+  #BACKWARDS
+  #RAMP UP
+  for speed in range(0,50,1):
     time.sleep(.1)
     smc.axis_track(AXIS,-speed/10)
-#RAMP DOWN
-for speed in range(50,0,-1):
+  #RAMP DOWN
+  for speed in range(50,0,-1):
     time.sleep(.1)
     smc.axis_track(AXIS,-speed/10)
 
+run()

examples/slew.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+import synscan
+import time
+
+'''Goto example'''
+def run():
+  smc=synscan.motors()
+  smc._set_T1_preset(1, 3000); # AZ
+  smc.axis_start_motion(1)
+  time.sleep(1)
+  smc.axis_stop_motion(1)
+
+run()

examples/slowgoto.py

@@ -0,0 +1,14 @@
+import synscan
+
+'''Goto example'''
+smc=synscan.motors()
+#Slow down long goto
+smc.axis_set_long_goto_step_period(1, 3000); # AZ
+smc.axis_set_long_goto_step_period(2, 3000); # ALT
+#Synchronize mount actual position to (0,0)
+smc.set_pos(0,0)
+#Move forward and wait to finish
+smc.goto(30,30,synchronous=True)
+#Return to original position and exit without wait
+smc.goto(0,0,synchronous=False)
+

examples/synscan

@@ -0,0 +1 @@
+../synscan

logging.py

@@ -0,0 +1,14 @@
+# micropython compatibility replacement
+# for logging
+
+def info(x):
+  return
+
+def debug(x):
+  return
+
+def warning(x):
+  return
+
+def basicConfig(format,level):
+  return

synscan/comm.py

@@ -3,19 +3,20 @@
 # pysynscan
 # Copyright (c) July 2020 Nacho Mas
 
-
 import socket
 import logging
 import os
 import select
-import threading
-
-
-
-UDP_IP = os.getenv("SYNSCAN_UDP_IP","192.168.4.1")
-UDP_PORT = int(os.getenv("SYNSCAN_UDP_PORT",11880))
 
-LOGGING_LEVEL=os.getenv("SYNSCAN_LOGGING_LEVEL",logging.INFO)
+try:
+  from os import getenv
+  UDP_IP = getenv("SYNSCAN_UDP_IP","192.168.4.1")
+  UDP_PORT = int(getenv("SYNSCAN_UDP_PORT",11880))
+  LOGGING_LEVEL=getenv("SYNSCAN_LOGGING_LEVEL",logging.INFO)
+except:
+  UDP_IP = None
+  UDP_PORT = 11880
+  LOGGING_LEVEL=0
 
 class commUDP:
     '''
@@ -29,10 +30,14 @@ def __init__(self,udp_ip=UDP_IP,udp_port=UDP_PORT):
         self.udp_ip=udp_ip
         self.udp_port=udp_port
         self.commOK=False
-        self.lock= threading.Lock()
+        try:
+          import threading
+          self.lock= threading.Lock()
+        except:
+          self.lock=None
 
     def cmd(self,cmd,timeout_in_seconds=2):
-        '''Low level send command function '''
+        ''' Low level send command function '''
         with self.lock:
             self._sock.sendto(cmd,(self.udp_ip,self.udp_port))
             ready = select.select([self._sock], [], [], timeout_in_seconds)
@@ -56,11 +61,15 @@ def __init__(self,serial_dev):
         import serial
         ''' Init the serial port '''
         self.serial = serial.Serial(serial_dev, 9600, timeout=.02)
-        self.lock = threading.Lock()
+        try:
+          import threading
+          self.lock= threading.Lock()
+        except:
+          self.lock=None
         self.commOK=False
 
     def cmd(self,cmd,timeout_in_seconds=2):
-        '''Low level send command function '''
+        ''' Low level send command function '''
         with self.lock:
             self.serial.write(cmd)
             response = self.serial.readline()
@@ -93,7 +102,14 @@ def __init__(self,udp_ip=UDP_IP,udp_port=UDP_PORT,serial_dev=None):
         if serial_dev:
             self.comm = commSerial(serial_dev)
         else:
-            self.comm = commUDP(udp_ip,udp_port)
+            if udp_ip:
+                self.comm = commUDP(udp_ip,udp_port)
+            else: # "syn" is local python interface with syn.cmd()
+                # esp32blesynscan/micropython/
+                # rename synscan.py -> syn.py
+                # mpremote cp synscan.py :/syn.py
+                import syn
+                self.comm = syn
 
     def _send_raw_cmd(self,cmd,timeout_in_seconds=2):
         return self.comm.cmd(cmd, timeout_in_seconds)

synscan/motors.py

@@ -8,6 +8,7 @@
 #      G  Set Motion Mode
 #      I  Set Step Period (T1 preset value)
 #      S  Set Goto Target 
+#      T  Set Long Goto Step Period
 #      H  SetGotoTargetIncrement
 #      M  SetBreakPointIncrement
 #      E  Set Position / SetAxisPosition
@@ -37,6 +38,7 @@
 #
 # Tested successfully on:
 # - SkyWatcher AZ-GTI 
+# - SkyWatcher Virtuoso GTi firmware 3.40.AF
 # - open-synscan
 # - Star Adventurer Mini (AXIS1 only), but goto does not stop.
 #
@@ -45,14 +47,19 @@
 # https://inter-static.skywatcher.com/downloads/skywatcher_motor_controller_command_set.pdf
 
 import os
-import logging
 from synscan.comm import comm
 import time
+import logging
 
-UDP_IP = os.getenv("SYNSCAN_UDP_IP","192.168.4.1")
-UDP_PORT = int(os.getenv("SYNSCAN_UDP_PORT",11880))
-
-LOGGING_LEVEL=os.getenv("SYNSCAN_LOGGING_LEVEL",logging.INFO)
+try:
+  from os import getenv
+  UDP_IP = getenv("SYNSCAN_UDP_IP","192.168.4.1")
+  UDP_PORT = int(getenv("SYNSCAN_UDP_PORT",11880))
+  LOGGING_LEVEL=getenv("SYNSCAN_LOGGING_LEVEL",logging.INFO)
+except:
+  UDP_IP = None # use python interface syn.cmd()
+  UDP_PORT = 11880
+  LOGGING_LEVEL=0
 
 class motors(comm):
     '''
@@ -155,7 +162,7 @@ def get_parameters(self):
         Some of this parameters are needed for all calculations 
         so they have to be available to the rest of the code
 
-        Parameters are stored in a dict with te following keys:
+        Parameters are stored in a dict with the following keys:
 
             * countsPerRevolution
             * TimerInterruptFreq
@@ -305,6 +312,11 @@ def axis_set_goto_targetCounts(self,axis,targetCounts):
         response=self._send_cmd('S',axis,targetCounts+0x800000) # SetGotoTarget 
         return response
 
+    def axis_set_long_goto_step_period(self,axis,stepPeriod):
+        logging.info(f'AXIS{axis}: Setting long goto step period to {stepPeriod}')
+        response=self._send_cmd('T',axis,stepPeriod) # long goto step period
+        return response
+
     def axis_set_goto_targetIncrementCounts(self,axis,targetCounts):
         #NOT IN USE. HAVE TO BE TESTED!!
         '''GoTo Target increment in StepsCounts. Motors has to be stopped'''
@@ -315,7 +327,7 @@ def axis_set_goto_targetIncrementCounts(self,axis,targetCounts):
         #Position values are offseting by 0x800000
         response=self._send_cmd('H',axis,targetCounts+0x800000) # SetGotoTargetIncrement
         #Set Brake Point Increment
-        response=self._send_cmd('M',axis,0x000DAC)  # SetBreakPointIncrement
+        response=self._send_cmd('M',axis,0x000DAC)  # SetBrakePointIncrement
         return response
 
     def axis_wait2stop(self,axis):