PiRotator

RaspberryPi controlled antenna rotator

Summary:

Current commercial az/el antenna rotators are really expensive(easily over 1500€ with controllers), and moreover technically most are from 90s (analog potentiometer sensors/control, no network, rs/lpt controllable, no web, no rest api, etc).

I tried to take little bit different approach..

Goals:

Cheap common hardware (wormgears, nema steppers, rasberrypi, etc)
Intelligence on mast (controlbox includes rasberrypi, this enables many things, like SDR on mast)
All digital (digital rotary sensors, steppers, tcp/ip, etc)
network (only IO is network, controlling thru different apis(REST, legacy RS emulation api))
backward compatibility to legacy software, via software RS (ham radio deluxe, pstrotator, etc)
project is only for fun, and learning new stuff!

Hardware:

Steppers:
- Common 4-lead NEMA 23
- one full step 1.8 degrees
- cheap (from 10$/each)
- easy to control
Worm gears:
- 90 degree Gearbox ?WormGear Speed Reducer 1:60 ratio
- most important is ?WormGear, because of that we do not need any brake system!
- relatively sheap (about 50$ / each)
- with 1:60 reduction we do not need that much power and precision is 1.8 (from step) / 60 -> 0.03angle /step
Absolute rotary encoders:
- Cheapest used 10bit absolute rotary sensors what i could find (KOYO TRD-3A1024)
- precision is more than enough (10bit -> 1024 -> 360/1024= 0.35 degrees)
- price about 15€/each
- 10bit means on this case that there are 10pin for data + 2 power pins
Slip rings:
- https://en.wikipedia.org/wiki/Slip_ring
- Capsule slip ring OD22MM 18Wires
- stepper control cables and rotary sensors data cables to upper module go thru axle, with slip ring we dont have to worry about these cables and rotation.
- about 15€
Stepper control:
- https://www.piborg.org/picoborgrev
- ?PicoBorg Reverse
- easy, cheap, efficient,
Controller:
- Raspberrypi 2 or B+
- full OS
- enough gpio ports for encoders and stepper control
- network port
- could run as "SDR streamer" with rtl_tcp or similar
- full python
Connectors/box/cables/gears/belts/bolts/etc:

Software:

Plan / specs for pirotator server:

REST api for controlling (done)
- you could control your rotator via simple http posts
- enables many kind of solutions
Legacy rotator emulation for legacy software via virtual RS (done)
- emulates yeasu GS-232B protocol (only control and feedback commands implemented)
- client OS sees ?SerialPort via virtual serial port software (eg. hw-groups HW virtual serial port -HW VSP3)
- Tested with HRD rotator and PSTrotator
Simpple CLI UI (70%)
- mainly for debugging purposes
Multithreaded structure, and locks/aborts (90%)
- could use all of those apis/interfaces at same time
Neat WEB/JavaScript UI top of REST api (15%)
- Graphical javascipt / angular UI

CategoryProjekti

-  ⇤ ← Revision 8 as of 2015-10-02 11:26:01 → 
  Size: 3135
  Editor: wilho
  Comment:
+   ← Revision 9 as of 2015-10-02 11:33:01 → ⇥
  Size: 3071
  Editor: wilho
  Comment:
-Deletions are marked like this.
+Additions are marked like this.
 Line 10:
-Current commercial az/el antenna rotators are really expensive(easily over 1500€ with controllers), 
and moreover technically most are from 90s (analog potentiometer sensors/control, no network,
+Current commercial az/el antenna rotators are really expensive(easily over 1500€ with controllers),
and moreover technically most are from 90s (analog potentiometer sensors/control, no network,
 Line 14:
 I tried to take little bit different approach..
 Line 17:
-* Cheap common hardware (wormgears, nema steppers, rasberrypi, etc)
* Intelligence on mast (controlbox includes rasberrypi, this enables many things, like SDR on mast)  
* All digital (digital rotary sensors, steppers, tcp/ip, etc)
* network (only IO is network, controlling thru different apis(REST, legacy RS emulation api))
* backward compatibility to legacy software, via software RS (ham radio deluxe, pstrotator, etc)
* project is only for fun, and learning new stuff!
+ * Cheap common hardware (wormgears, nema steppers, rasberrypi, etc)
 * Intelligence on mast (controlbox includes rasberrypi, this enables many things, like SDR on mast)
 * All digital (digital rotary sensors, steppers, tcp/ip, etc)
 * network (only IO is network, controlling thru different apis(REST, legacy RS emulation api))
 * backward compatibility to legacy software, via software RS (ham radio deluxe, pstrotator, etc)
 * project is only for fun, and learning new stuff!
 Line 26:
 === Hardware: ===
 Line 30:
-  Steppers:
    Common 4-lead NEMA 23
    - one full step 1.8 degrees
    - cheap (from 10$/each)
    - easy to control
  
  Worm gears:
     90 degree Gearbox WormGear Speed Reducer 1:60 ratio
     -most important is WormGear, because of that we do not need any brake system!
     -relatively sheap (about 50$ / each)
     -with 1:60 reduction we do not need that much power and precision is 1.8 (from step) / 60 -> 0.03angle /step
  
  Absolute rotary encoders:
     Cheapest used 10bit absolute rotary sensors what i could find (KOYO TRD-3A1024)
     -precision is more than enough (10bit -> 1024 -> 360/1024= 0.35 degrees)
     -price about 15€/each
     -10bit means on this case that there are 10pin for data + 2 power pins
+ *Steppers:
  *Common 4-lead NEMA 23
  *one full step 1.8 degrees
  *cheap (from 10$/each)
  *easy to control
-Line 48:
+Line 36:
-  Slip rings:
     https://en.wikipedia.org/wiki/Slip_ring
     Capsule slip ring OD22MM 18Wires
      - stepper control cables and rotary sensors data cables to upper module go thru axle, with slip ring we dont have to worry about these cables and rotation.
      - about 15€
  
  Stepper control:
    https://www.piborg.org/picoborgrev
    PicoBorg Reverse
     -easy, cheap, efficient,
+ *Worm gears:
  *90 degree Gearbox WormGear Speed Reducer 1:60 ratio
  *most important is WormGear, because of that we do not need any brake system!
  *relatively sheap (about 50$ / each)
  *with 1:60 reduction we do not need that much power and precision is 1.8 (from step) / 60 -> 0.03angle /step
-Line 59:
+Line 42:
-     Controller:
    Raspberrypi 2 or B+
    - full OS
    - enough gpio ports for encoders and stepper control
    - network port
    - could run as "SDR streamer" with rtl_tcp or similar
    - full python
  
  Connectors/box/cables/gears/belts/bolts/etc:
+ *Absolute rotary encoders:
  *Cheapest used 10bit absolute rotary sensors what i could find (KOYO TRD-3A1024)
  *precision is more than enough (10bit -> 1024 -> 360/1024= 0.35 degrees)
  *price about 15€/each
  *10bit means on this case that there are 10pin for data + 2 power pins

 *Slip rings:
  *https://en.wikipedia.org/wiki/Slip_ring
  *Capsule slip ring OD22MM 18Wires
  *stepper control cables and rotary sensors data cables to upper module go thru axle, with slip ring we dont have to worry about these cables and rotation.
  *about 15€

 *Stepper control:
  *https://www.piborg.org/picoborgrev
  *PicoBorg Reverse
  *easy, cheap, efficient,
-Line 71:
+Line 60:
-=== Software: ===
+ *Controller:
  *Raspberrypi 2 or B+
  *full OS
  *enough gpio ports for encoders and stepper control
  *network port
  *could run as "SDR streamer" with rtl_tcp or similar
  *full python

 *Connectors/box/cables/gears/belts/bolts/etc:


=== Software: ===
 Line 76:
-REST api for controlling (done)
- you could control your rotator via simple http posts
- enables many kind of solutions
+ *REST api for controlling (done)
  *you could control your rotator via simple http posts
  *enables many kind of solutions
 Line 80:
-Legacy rotator emulation for legacy software via virtual RS (done)
- emulates yeasu GS-232B protocol (only control and feedback commands implemented)
- client OS sees SerialPort via virtual serial port software (eg. hw-groups HW virtual serial port -HW VSP3)
- Tested with HRD rotator and PSTrotator
+ *Legacy rotator emulation for legacy software via virtual RS (done)
  *emulates yeasu GS-232B protocol (only control and feedback commands implemented)
  *client OS sees SerialPort via virtual serial port software (eg. hw-groups HW virtual serial port -HW VSP3)
  *Tested with HRD rotator and PSTrotator
 Line 85:
-Simpple CLI UI (70%)
- mainly for debugging purposes
+ *Simpple CLI UI (70%)
  *mainly for debugging purposes
 Line 88:
-Multithreaded structure, and locks/aborts (90%)
- could use all of those apis/interfaces at same time
+ *Multithreaded structure, and locks/aborts (90%)
  *could use all of those apis/interfaces at same time
 Line 91:
-Neat WEB/JavaScript UI top of REST api (15%)
- Graphical javascipt / angular UI
+ *Neat WEB/JavaScript UI top of REST api (15%)
  *Graphical javascipt / angular UI