Dobson.h

#pragma once
/*
 * Dobson.h
 *
 *  Created on: 27.08.2019
 *      Author: lukas
 */

#include <AccelStepper.h>
#include <FuGPS.h>

#include "./location.h"
#include "./Observer.h"

#include "./Mount.h"

class Dobson: public Mount {
public:
	Dobson(AccelStepper &azimuthStepper, AccelStepper &altitudeSteppers, Observer &observer);

	// This runs at the very end of the Arduino setup() function and sets the operating mode and initial target
	void initialize();

	// Calculates the next targets for the steppers, based on the GPS position, current time and target
	// This does not yet update the stepper motor targets, but stores them in the protected member variable _steppersTarget
	// It also calls the azAltToRaDec() method with the current stepper position and stores the result
	void calculateMotorTargets();

	AzAlt<double> raDecToAltAz(RaDecPosition target);

	AzAlt<double> getMotorAngles() {
		return {
			_azimuthStepper.currentPosition() / AZ_STEPS_PER_DEG,
			_altitudeStepper.currentPosition() / ALT_STEPS_PER_DEG,
		};
	}

	void setAlignment(RaDecPosition alignment);
	
	// Calculates the current position in Ra/Dec, which is reported back to Stellarium or other connected tools
	RaDecPosition azAltToRaDec(AzAlt<double> position);

	// Sets the actual motor targets, based on the contents of _steppersTarget
	void move();

	// It is set to true at the end of the move() method, if at least one stepper target was changed
	// It is then reset at the beginning of calculateMotorTargets()
	bool _didMove = false;

#ifdef DEBUG_TIMING
	// How long calculateMotorTargets took to execute (including azAltToRaDec())
	long _lastCalcMicros = 0;
#endif

protected:
	// Reference to the azimuth stepper
	AccelStepper &_azimuthStepper;
	
	// Reference to the altitude stepper
	AccelStepper &_altitudeStepper;

	// Reference to the Observer (GPS/Fixed)
	Observer &_observer;

	// Stores the current local sidereal time
	// This is written to (and used) by calculateMotorTargets() and just used by azAltToRaDec()
	double _currentLocalSiderealTime;

	// Target position in degrees
	AzAlt<double> _targetDegrees;

	// The position of the steppers when homing was performed (in steps).
	AzAlt<long> _steppersHomed;

	// Current stepper target position for the steppers (in steps). It is written to at the end of calculateMotorTargets()
	AzAlt<long> _steppersTarget;

	// Target position for the steppers before the last move (in steps). It is written to at the end of move()
	AzAlt<long> _steppersLastTarget;

	// Outputs various debug statements
	void debugMove(long diffAz, long diffAlt);
};