⚠️ WORK IN PROGRESS — End-stop homing not yet tested.
Fork of Satnogs-CNC-Rotator by @jharwinbarrozo, adapted for Wemos D1 R32 (ESP32) + Arduino CNC Shield v3.
| Feature | Upstream | This fork |
|---|---|---|
| MCU | Arduino Mega / SatNOGS board | Wemos D1 R32 (ESP32-WROOM) |
| Communication | RS485 / USB Serial | USB Serial + Bluetooth SPP |
| Compatible software | Gpredict | Gpredict + PST Rotator + Look4Sat |
| Pin mapping | SatNOGS board | CNC Shield v3 |
| ESP32 WDT | N/A | yield() in blocking loops |
| Park function | N/A | Auto-park AZ0/EL0 on BT disconnect |
| Jog commands | N/A | ML/MR/MU/MD + RST calibration |
Cut resistor R5 (10K) on CNC Shield v3 — pulls GPIO12 HIGH at boot. See: https://onstep.groups.io/g/main/wiki/19670
Flash with shield dismounted.
| Function | ESP32 GPIO |
|---|---|
| Step AZ (X-STEP) | GPIO 26 |
| Dir AZ (X-DIR) | GPIO 16 |
| Step EL (Y-STEP) | GPIO 25 |
| Dir EL (Y-DIR) | GPIO 27 |
| Motor Enable | GPIO 12 |
| End-stop AZ | GPIO 5 |
| End-stop EL | GPIO 23 |
| Command | Description |
|---|---|
| AZxxx.x ELxxx.x | Set AZ and EL (EasyComm I) |
| AZxxx.x | Set azimuth |
| ELxxx.x | Set elevation |
| AZ | Query azimuth |
| EL | Query elevation |
| SA | Stop azimuth |
| SE | Stop elevation |
| GS | Get status |
| GE | Get error |
| IP | Get AZ+EL combined |
| VE | Get firmware version |
| Command | Description |
|---|---|
| ML | AZ - 1 degree (no limit) |
| MR | AZ + 1 degree (no limit) |
| MU | EL + 1 degree (no limit) |
| MD | EL - 1 degree (no limit) |
| RST | Reset counters to zero without moving |
| PK | Manual park AZ0 EL0 |
| RB | Reboot ESP32 |
- Send MD x n to move below physical zero
- Send RST to set zero at current position
- Rotator is calibrated
- Pair with F4DIW-Rotator
- Settings > Bluetooth data output
- Device id: BT MAC shown at boot
- Data format: P $AZ $EL
- EasyComm I or II
- Baud rate: 9600
| Parameter | Value | Description |
|---|---|---|
| RATIO | 19.2 | Gear reduction ratio |
| MICROSTEP | 8 | MS1+MS2 jumpers ON |
| SPR | 1600 | Steps per revolution |
| JOG_STEP | 1.0 | Jog step in degrees |
| SKIP_HOMING | 1 | Set to 0 with end-stops |
- Board: ESP32 Dev Module
- Partition: Default (not No BT)
- Upload speed: 921600
- Compilation tested
- Bluetooth pairing tested
- Look4Sat BT tracking tested
- Motor movement tested AZ + EL
- PST Rotator USB Serial tested
- Auto-park on BT disconnect
- Jog ML/MR/MU/MD + RST
- End-stop homing (SKIP_HOMING=0)
GPLv3
- Original: jharwinbarrozo/Satnogs-CNC-Rotator
- BT reference: F4HTB/esp32Rotor
- Pin mapping: OnStep CNC3
- Adapted by: F4DIW