birdcage/CLAUDE.md

# Winegard Trav'ler

Control a Winegard Trav'ler motorized satellite dish via RS-485 for amateur radio satellite tracking.

## Project

- **Package:** `travler-rotor` (installed via `uv sync`)
- **CLI entry point:** `travler-rotor` (init / serve / pos / move)
- **Source layout:** `src/travler_rotor/` (src-layout)
- **Original upstream:** `Trav-ler-Rotor-For-HAL-2.05/` — Gabe Emerson's scripts, kept as reference (do not modify)

## Build & Lint

```bash
uv sync                           # Install deps + package
uv run ruff check src/             # Lint
uv run ruff format --check src/    # Format check
uv run travler-rotor --help        # CLI smoke test
```

## Architecture

```
protocol.py   — FirmwareProtocol ABC + HAL205Protocol / HAL000Protocol
                Serial I/O owned here. Each firmware version is a subclass.
leapfrog.py   — Pure function: apply_leapfrog(target, current) -> adjusted
                Predictive overshoot to compensate for mechanical motor lag.
antenna.py    — TravlerAntenna: high-level control wrapping protocol + leapfrog
                This is what consumers (CLI, rotctld, future MCP server) call.
rotctld.py    — RotctldServer: Hamlib rotctld TCP protocol (p/P/S/_/q)
                Bridges Gpredict to the antenna.
cli.py        — Click CLI with init/serve/pos/move subcommands
```

## Firmware Variants

Four known Winegard dish variants documented by Gabe Emerson (KL1FI) / saveitforparts:

| Detail | HAL 0.0.00 | HAL 2.05.003 | Trav'ler Pro | Carryout |
|--------|-----------|-------------|-------------|---------|
| **Repo** | Travler_Rotor | Trav-ler-Rotor-For-HAL-2.05 | Travler-Pro-Rotor | Carryout-Rotor |
| **Connection** | RS-485 / RJ-25 | RS-485 / RJ-25 | USB A-to-A (`ttyACM0`) | RS-485 / RJ-25 |
| **Motor submenu** | `mot` | `motor` | `odu` then `mot` | N/A (`target` + `g`) |
| **Motor control** | `a <id> <deg>` | `a <id> <deg>` | `a <id> <deg>` | `g <az> <el>` only |
| **Search kill** | `os` -> `kill Search` | `ngsearch` -> `s` -> `q` | `os` -> `kill Search` | N/A |
| **Boot signal** | `NoGPS` | `NoGPS` or `No LNB Voltage` | undocumented | N/A |
| **Min elevation** | 15 deg (firmware) | 15 deg (firmware) | 12 deg (firmware) | 22 deg (firmware-enforced) |
| **Max elevation** | 90 deg | 90 deg | 75 deg (hardware cap!) | 73 deg (firmware default, NVS 102 override) |
| **Position query** | `a` -> `AZ = / EL =` | `a` -> `AZ = / EL =` | `a` -> `AZ = / EL =` | raw ints / 100 |
| **Tested model** | LG-2112 | LG-2112 | SK2DISH | 2003 Carryout |
| **HAL version** | 0.0.00 | 2.05.003 | unknown | 1.00.065 |

### Key Variant Differences

- **Trav'ler Pro `odu` command:** The Pro's IDU has its own MCU. You must first tunnel to the ODU with `odu` before entering the motor submenu. The regular Trav'ler's IDU is a dumb RS-485 passthrough.
- **Carryout uses `g` not `a`:** The Carryout has no individual motor addressing. It uses `target` to enter targeting mode, then `g <az> <el>` for combined moves. It also can't query its initial position.
- **Carryout has no limit switches:** Uses motor stalling to detect mechanical boundaries (audible grinding).
- **Pro has the same leap-frog bug** as the regular Trav'ler (copy-pasted).
- **Pro NVS submenu** has a `d` command to dump all NVS values (undocumented for other variants).
- **Carryout DIP switches:** All switches to off (up) may disable search mode, but behavior varies by unit.

## Hardware Specs (SK-1000)

| Spec | Value |
|------|-------|
| Weight | 45 lbs |
| Stow dimensions | 10"H x 42"L x 26"W |
| Stow height | 9.75" |
| Max deployed height | 37" above mount |
| Arm reach | 32.5" from base center |
| Dish size | ~33" x 23" (Ku-band reflector) |
| Azimuth range | 0-455 deg (before cable wrap) |
| Power input | 120VAC -> 12VDC (RP-SK87 supply) |
| LNB bias | 12-18VDC via coax |
| Motor type | Likely stepper with gearing (unconfirmed) |
| Satellites (DISH) | 110, 119, 129 (61.5 manual only) |
| Satellites (Bell) | 82, 91 |

## Hardware Protocol Notes

- RS-485 serial, 57600 baud, 8N1 (via USB-to-RS232 + DTECH RS232-to-RS485 + RJ-25)
- Motor commands: `a <motor_id> <degrees>` (0=azimuth, 1=elevation)
- Position query: `a` (in motor submenu) returns `AZ = <val>  EL = <val>  SK = <val>`
- Two motor control methods:
  - `a <id> <deg>` — queues command, waits for current motor to finish. Tolerant of rapid command streams from Gpredict.
  - `g <az> <el> <sk>` — immediate move, aborts on any new keystroke/character. Some firmware has a typo listing the order as az/sk/el.
- Skew motor can run simultaneously with AZ or EL (the others are mutually exclusive)
- Elevation floor: HAL 2.05 unreliable below 15 degrees with direct motor commands
- Cable wrap limit: usually 360 or 455 degrees, dish reverses at limit
- Console does not accept backspace — hit enter to clear on typo

### RS-485 Pinout (RJ-25, bottom view, tip up)

| Pin | Function |
|-----|----------|
| 1 | GND |
| 2 | T/R- |
| 3 | T/R+ |
| 4 | RXD- |
| 5 | RXD+ |
| 6 | Not used |

### Firmware Console Commands

```
?              — list available commands
motor / mot    — enter motor submenu (firmware-dependent)
a              — show position (in motor submenu)
a <id> <deg>   — move motor to absolute position
g <az> <el>    — go to AZ/EL (aborts on new input)
q              — exit current submenu
odu            — tunnel to outdoor unit (Trav'ler Pro only)
os             — enter OS submenu
  tasks        — list running tasks
  kill <name>  — kill a named task (e.g. "kill Search")
ngsearch       — enter search submenu (HAL 2.05 only)
  s            — stop search
nvs            — enter non-volatile storage submenu
  d            — dump all values (Pro only, undocumented on others)
  e <idx>      — read NVS value
  e <idx> <v>  — write NVS value
  s            — save changes
dvb            — signal info / LNB signal strength submenu
reboot         — reboot firmware
stow           — fold dish flat (caution: modified feeds may not survive)
```

### Known NVS Indices

| Index | Setting |
|-------|---------|
| 102 | Max elevation |
| 125 | Search minimum elevation |
| 127 | Safe minimum elevation |

### Error Messages

| Message | Meaning |
|---------|---------|
| `AZ MOTOR STALLED` | Obstruction preventing rotation |
| `EL MOTOR STALLED` | Obstruction preventing elevation change |
| `EL Motor Home Failure` | Requires EL recalibration via IDU menu |

### IDU/ODU Cable Wiring (if cut)

Top row: Green, Yellow, Orange. Bottom row: Red, Brown, Black.

### Power

120VAC input to RP-SK87 power supply, outputs 12VDC to IDU. Internal coax carries 12-18VDC bias for LNB — do not connect 5V equipment (SDR LNAs, etc.) without bypassing the power injector.

### Physical Setup

- Base marked with arrows and "BACK" at 0/360 deg (North)
- Align "BACK" with true North for accurate tracking
- Gpredict rotor config: 127.0.0.1:4533, 0->180->360 mode, min EL 15, max EL 90
- No obstructions taller than 8" within 32.5" of base center

### Calibration

On power-up, the dish performs calibration movements to establish position and cable wrap limits (~10-15 minutes on Carryout, shorter on Trav'ler). After calibration, firmware automatically starts a TV satellite search — the init sequence kills this.

Carryout uses motor stalling (not limit switches) to detect mechanical boundaries — expect audible grinding during calibration.

EL recalibration (via IDU buttons): POWER -> ENTER (hold 2s) -> User Menu -> INSTALLATION -> Calibrate EL -> confirm hard stop position.

### Emergency Manual Stow

Last resort only. 5/16" socket + 6" extension into auxiliary drive hole. Turn clockwise slowly. Ensure arm faces "rear" label before lowering. Improper execution can damage motor.

## Known Bugs (from upstream)

- **Leap-frog elevation bug:** original `travler_rotor.py` lines 98-105 modify `target_az` instead of `target_el`. Fixed in `leapfrog.py`. Present in both Trav'ler and Trav'ler Pro repos. See `docs/bugs.md`.

## Upstream References

- github.com/saveitforparts/Travler_Rotor (HAL 0.0.00)
- github.com/saveitforparts/Trav-ler-Rotor-For-HAL-2.05 (HAL 2.05)
- github.com/saveitforparts/Travler-Pro-Rotor (Pro, USB)
- github.com/saveitforparts/Carryout-Rotor (Carryout, HAL 1.00.065)
- github.com/saveitforparts/Carryout-Radio-Telescope (RF scanning/imaging)
- Gabe Emerson / KL1FI — gabe@saveitforparts.com
- YouTube: Trav'ler v1 demo (youtu.be/X1hnReHepFI), v2 demo (youtube.com/watch?v=URJZjo5EcpQ)

## Testing

No hardware-in-the-loop tests yet. Protocol implementations can be mocked for unit testing — `FirmwareProtocol` is an ABC with clear method contracts.