v0.7b3, 2017 XXX XX ------------------- * When the telescope arrives in position, it now prints `>g A float float`, giving the final position; this adds the `A` to distinguish this from the (note unreliable) `>g E ...` message. v0.7b2, 2017 January 22 ----------------------- * Position is now tracked when using the `g{U,D,E,W}` commands. This does not guarantee that this will be true in future, nor that these commands will definitely be retained. * Added `n{u,d,e,w}` commands; these should generally be used in place of the `g{U,D,E,W}` commands. * Sidereal tracking (command `ts`) currently doesn't work. Highlighted in the documentation, but not disabled in the code. * Queuing of activities was broken; fixed. v0.7b1, 2016 Dec 19 ------------------- * The telescope is now, by group fiat, named the AR 1420. * The `gh` and `ge` commands now produce `>g float float` when they arrive at their destination * Added `e` and `E` to the 'status' indicators, to indicate estimated angular position error * Planned slews now avoid hitting the endstops (but this currently works only by having the telescope stop short of the endstop rather than, for example, planning a slew to avoid it, or to flip the telescope over). * Slews currently work OK in alt-az coordinates (`gh`). A commanded slew into the empty sector will be refused (with a `!` error response), and slews will not go through the empty sector. * Sidereal tracking moves in the correct direction, but the commanded speed is obviously wrong (not usable; see issue #8). v0.6, 2015 October 4 -------------------- * During slews, the drive now starts and stops more smoothly (issue #7). * Numerous major and minor bugs detected and fixed. These allowed some attractive simplifications. * Numerous changes to comment output (lines beginning `#`), which are now a lot terser. These lines may also be cropped, if writing them to the output buffer would fill that buffer up and therefore require the processor to wait for the buffer to clear (non-comment lines are not cropped this way, even if this forces the processor to be idle). * These included some consistency fixes to the units and orientations in which positions were reported and commanded (so the input and response to some commands may have changed slightly). All interactions with the system which refer to horizontal coordinates -- input and output -- should now be in radians in azimuth. * Added `X` command to stow the telescope in the pointing-upright position. * Change to documented startup procedure (the calibration step is now probably redundant). v0.5, 2015 September 18 ----------------------- * Added startup instructions to API documentation. * Add BufferedSerial class, which performs writes (ie, logprintf strings) one byte per main-loop cycle. * Changed initial/default fields reported by `status` output, and added fields * Many changes to comment lines (now fewer and shorter) * Added a '!' emergency stop command (which doesn't wait until a line is complete before being effective) * Finally determined the actual number of clicks per degree (!) * Changed the output of the `v` command. * Positions (messages `s`, `az` and `alt`) now report position as radians in azimuth, not east-of-south. v0.4, 2015 August 16 -------------------- * Add Kalman filters for az and alt motion (issue #5). * Fold PDF notes into distribution and webpage. * Add 'ta' command to track in azimuth. * Make the `status` output configurable with alternative `s` command. v0.3.1, 2015 August 5 --------------------- * Fixed reading fragility (issue #10). Other adjustments to unit tests. v0.3, 2015 August 4 ------------------- * Minor interface improvements. * Added `ge` command, to drive to coordinates in RA-Dec * Changed `ge`, `gw`, `gu`, and `gd` to `gE`, `gW`, `gU`, and `gD`. * Command `gh` arguments are now in radians rather than degrees (less intuitive but more consistent). * Added `q` command, and support for queueing in activities.cpp. Added a further associated column to the loop() status output. v0.2, 2015 July 30 ------------------ * Now does sidereal tracking. * Still no Kalman filter, so all the positioning is by dead-reckoning, and is therefore unlikely to be very accurate. * Changes to interface: telescope position command 'T' -> 'O'; time 't' -> 'T'; new 'ts' command for sidereal tracking * Status output has changed v0.1, 2015 July 24 ------------------ Initial release