Ryan Malloy
35ec6dfdb5
- Fix lock hierarchy: stopAll() cancels pulse before touching axes - Add configASSERT bounds checks on axis index in move/pulseGuide - Enforce ST4Pulse singleton with configASSERT - Check esp_timer_start_once return, rollback hardware on failure - Validate SYNC coordinates (reject garbage → silent 0.0) - Discard truncated serial commands on buffer overflow - Guard WiFi update()/broadcastState() against null ws_ pointer - Report connection errors to WebSocket clients on move/pulse - Remove redundant Serial.begin() from pulse_guide example
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
// ST4-ESP32 Pulse Guide Example
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// Demonstrates hardware-timer pulse guiding with position tracking
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//
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// Send via serial (57600 baud):
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// CONNECT# - connect to mount
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// PULSE RA+ 500# - pulse RA+ for 500ms
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// PULSE DEC- 1000# - pulse DEC- for 1 second
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// POS?# - read current position
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// STATUS?# - full status report
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#include <ST4.h>
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ST4Controller controller;
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ST4Serial st4Serial;
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void setup() {
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controller.begin(
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ST4_PIN_RA_PLUS, ST4_PIN_RA_MINUS,
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ST4_PIN_DEC_PLUS, ST4_PIN_DEC_MINUS,
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ST4_PIN_LED
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);
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// st4Serial.begin() opens Serial at 57600 baud and prints INITIALIZED#
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st4Serial.begin(controller, Serial);
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controller.connect();
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Serial.println("Ready. Try: PULSE RA+ 500#");
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}
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void loop() {
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st4Serial.update();
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// Print position every 5 seconds while moving
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static uint32_t lastPrint = 0;
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if (millis() - lastPrint > 5000) {
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lastPrint = millis();
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if (controller.axisActive(ST4AxisId::RA) ||
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controller.axisActive(ST4AxisId::DECLINATION) ||
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controller.isPulseActive()) {
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Serial.print("RA: ");
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Serial.print(controller.position(ST4AxisId::RA), 6);
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Serial.print(" DEC: ");
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Serial.println(controller.position(ST4AxisId::DECLINATION), 6);
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}
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}
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}
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