'$INCLUDE: 'c:\qbasic\QB.BI'
' This program designed to be compiled with QB4.0 or QB4.5
'
'***** WARNING WARNING  start and compile with the /l /ah option  WARNING *****
'
'This program does the autoguiding with a Connetix B&W QCam and also does
'saves of darkfield and captured images.
'Control of camera and drive this version: 6 bit or 4 bit reads.
'Machine independent timer, clock ticks 18.2 at times per second.
'Original program by Don Davies.
'Program by Marty Niemi and modified for full QB subroutines by Bob May.
'Image write is to 8 bit grayscale Targa format
'This version does the 6 bit image capture as an option.
DEFINT A-Z
DECLARE SUB LimitAbort ()     'Abort guide if move > limit
DECLARE SUB Calibrate ()      'Calibrate the rate of the motor drive system
DECLARE SUB checkey ()        'read the keyboard
DECLARE SUB ClkTicks ()       'do the timing loop with the 18.2/sec. RTC
DECLARE SUB DCommand ()       'Send a command
DECLARE SUB delay ()
DECLARE SUB DReset ()
DECLARE SUB DSetup ()         'Setup the camera with the variables.
DECLARE SUB GetPort ()        'Get the port #s
DECLARE SUB mouse ()          'used with autozero
DECLARE SUB scanfield ()      'Scan the image in and get the star loc.
DECLARE SUB screenboxes ()    'setup display areas
DECLARE SUB SerialWrite ()    'write the data to the serial port scope control
DECLARE SUB SetPallete ()     'change the palette between white and red

CLEAR
	'set the integer vals as global
DIM SHARED inregs AS RegType, outregs AS RegType
DIM SHARED AMilliSecs AS INTEGER, Aggressive AS INTEGER
DIM SHARED BPPix  AS INTEGER, BPTx AS INTEGER
DIM SHARED Col AS INTEGER, CurrentTick AS INTEGER
DIM SHARED YCalSec AS INTEGER, DecmFact AS INTEGER
DIM SHARED YNeg  AS INTEGER
DIM SHARED Ysw AS INTEGER    '0=rev, 1=norm, 2=off
DIM SHARED YPos AS INTEGER, DkCapF AS INTEGER
DIM SHARED DkF AS INTEGER, DoDkCapF AS INTEGER
DIM SHARED DQCont AS INTEGER, DQexp AS INTEGER
DIM SHARED DQOffset AS INTEGER
DIM SHARED EndCol  AS INTEGER
DIM SHARED EndRow AS INTEGER, EndXp AS INTEGER
DIM SHARED EndYp AS INTEGER, hi AS INTEGER
DIM SHARED HI2 AS INTEGER, HI3 AS INTEGER
DIM SHARED IBPP AS INTEGER, Icamon AS INTEGER
DIM SHARED IChange AS INTEGER
DIM SHARED Inif AS INTEGER, Intens AS INTEGER
DIM SHARED Isize AS INTEGER, ITCirF AS INTEGER
DIM SHARED ITrkErrLn AS INTEGER, ITrkErrLoc AS INTEGER
DIM SHARED ITrkLn AS INTEGER, ih AS INTEGER
DIM SHARED ih2 AS INTEGER, ih3 AS INTEGER
DIM SHARED Iv AS INTEGER, ivv AS INTEGER
DIM SHARED jj AS INTEGER, KKey AS INTEGER
DIM SHARED LControl AS INTEGER, LCommand AS INTEGER
DIM SHARED LData AS INTEGER, left AS INTEGER
DIM SHARED lo AS INTEGER, LocTrackStatus AS INTEGER
DIM SHARED LStatus AS INTEGER, MisFrms  AS INTEGER
DIM SHARED Mxmisfrms AS INTEGER, Nchr AS INTEGER
DIM SHARED NT AS INTEGER, NTMax AS INTEGER
DIM SHARED OldLeft AS INTEGER
DIM SHARED OldSetNumV AS INTEGER, OldPixelsPerLine AS INTEGER
DIM SHARED OldTopLine AS INTEGER, pixelsperline AS INTEGER
DIM SHARED PSetSw AS INTEGER, QContr AS INTEGER
DIM SHARED QDataC AS INTEGER, QDataP AS INTEGER
DIM SHARED QExp AS INTEGER, QMode AS INTEGER, QExp2 AS INTEGER
DIM SHARED Qoffset AS INTEGER, XCalSec AS INTEGER
DIM SHARED XPos AS INTEGER, XNeg AS INTEGER
DIM SHARED RedSw AS INTEGER, Row AS INTEGER
DIM SHARED SavFrm AS INTEGER, SetNumH AS INTEGER
DIM SHARED setnumv AS INTEGER, SData AS INTEGER
DIM SHARED setleft AS INTEGER, settopln AS INTEGER, SixBit AS INTEGER
DIM SHARED StartXp AS INTEGER, StartYp AS INTEGER
DIM SHARED Threshold AS INTEGER, Ticks AS INTEGER
DIM SHARED topline AS INTEGER, TrkSw AS INTEGER
DIM SHARED WaitTime AS INTEGER, XGoal AS INTEGER
DIM SHARED Ygoal AS INTEGER, Xtemp AS INTEGER
DIM SHARED Ytemp AS INTEGER, Xt AS INTEGER
DIM SHARED Yt AS INTEGER, Xfer AS INTEGER
DIM SHARED AvgIdx AS INTEGER, AvgSw AS INTEGER
DIM SHARED AvgCtr AS INTEGER, AvgPtr AS INTEGER
DIM SHARED AvgTrg AS INTEGER, AvgExp AS INTEGER
DIM SHARED MvLimit AS INTEGER, Lx AS INTEGER
DIM SHARED MvlimitCtr AS INTEGER, MouseSw AS INTEGER
DIM SHARED RecSw AS INTEGER, floor AS INTEGER
DIM SHARED FaintSum AS INTEGER, FaintSw AS INTEGER
DIM SHARED FaintY AS INTEGER, SavBufSw AS INTEGER
DIM SHARED FaintX AS INTEGER, FilterSw AS INTEGER
DIM SHARED MedianY AS INTEGER, MedianX AS INTEGER
DIM SHARED SortIx AS INTEGER, MedCtr  AS INTEGER
DIM SHARED MedTmp AS INTEGER

DIM SHARED NDelay AS LONG, NPoints AS LONG      'long vars as global

DIM SHARED Angle AS SINGLE, DeadBand AS SINGLE  'single vars as global
DIM SHARED Yerror AS SINGLE, YNegMag AS SINGLE
DIM SHARED dx AS SINGLE, Dy AS SINGLE
DIM SHARED TotDx AS SINGLE, TotDy AS SINGLE
DIM SHARED YPosMag AS SINGLE, Cs AS SINGLE, YErOld AS SINGLE
DIM SHARED YNegCon  AS SINGLE, DeltaX AS SINGLE
DIM SHARED DeltaY AS SINGLE, YPosCon AS SINGLE
DIM SHARED Gamma AS SINGLE, Xerror AS SINGLE
DIM SHARED XPosCon AS SINGLE, XPosMag AS SINGLE
DIM SHARED XNegCon AS SINGLE, XNegMag AS SINGLE
DIM SHARED rec2 AS SINGLE, rec3 AS SINGLE
DIM SHARED Sn AS SINGLE
DIM SHARED Xp AS SINGLE, Yp AS SINGLE
DIM SHARED Boost AS SINGLE, AKSum AS SINGLE

DIM SHARED Null AS STRING  'strings as global

'$DYNAMIC                                   'arrays to global
DIM SHARED Img1(1 TO 3) AS INTEGER
DIM SHARED img2(-1 TO 241, -1 TO 321) AS INTEGER
DIM SHARED img3(-1 TO 241, -1 TO 321) AS INTEGER
DIM SHARED dark1(1 TO 240, 1 TO 320) AS INTEGER
DIM SHARED lookup(0 TO 15) AS INTEGER        'pixel brightness table
DIM SHARED Sort(1 TO 9) AS INTEGER           'sort array for median filter
DIM SHARED AvgPos(1 TO 14, 1 TO 2) AS SINGLE 'position average table
DIM SHARED AK(-1 TO 1, -1 TO 1) AS SINGLE    'Al Kelly's kernel


SCREEN 12
CLS

DReset
SetPallete          'start setting up the variables

					'Initialize Al Kelly's kernel

AK(-1, -1) = 1: AK(-1, 0) = 1.25: AK(-1, 1) = 1
AK(0, -1) = 1.25: AK(0, 0) = 2: AK(0, 1) = 1.25
AK(1, -1) = 1: AK(1, 0) = 1.25: AK(1, 1) = 1

FilterSw = 1                   'default to Faint mode filter
Inif = 0
Icamon = 1                     'Camon flag permits testing with no camera
DkF = 0: DkCapF = 0            'dark sub. flag, dark image capture flag.

XPos = 1: XNeg = 2             'Set bits for serial port motor control for
YPos = 4: YNeg = 8             'normal direction control
XCalSec = 5: YCalSec = 5       'initial Calibration variables
DeadBand = 2: Aggressive = 0
Boost = 1                      'multiplier for faint stars
floor = 4                      'set PV below this to zero

IBPP = 4: BPPix = 4: BPTx = 8     'Camera parameters nibble mode
IChange = 1
Isize = 3
DecmFact = 1                      'get every pixel, average 4 if this is a 2
SixBit = 0
NTMax = 80 / DecmFact / DecmFact
QMode = 0
Threshold = 4
DQCont = 10
QExp = 80: Qoffset = 222          'initial values for an exposure, blacklevel
QContr = 173                      'and contrast
pixelsperline = 320                'starting with the midsize frame
setnumv = 240                      '#lines in image. Init val is for med. frame
Mxmisfrms = 5                     'Tracking error threshold
MvLimit = 14                      'Limit commanded move to 14 pixels
MvlimitCtr = 0                    'consecutive moves over limit cause abort
XGoal = 162: Ygoal = 122          'PIXEL COORDS OF GOAL for tracking. Center of screen
TrkSw = 0: PSetSw = 1
ITCirF = 1: SavFrm = 0
Null = CHR$(0)
WaitTime = 2                      'RTC Clock ticks for wait
Col = 2: Row = 2                  'setup partial screen clear call params
EndCol = 325: EndRow = 243
FOR I = 0 TO 15                   'Generate the lookup table for the shades
  lookup(I) = 16 - I              'of gray the way the cam put them out.
NEXT I
lookup(0) = 0
FOR AvgCtr = 1 TO 14
  AvgPos(AvgCtr, 1) = 0              'clear the array for averaging
  AvgPos(AvgCtr, 2) = 0
NEXT AvgCtr
AvgCtr = 0
AvgTrg = 1
AvgIdx = 2
inregs.ax = 0: mouse                'initialize mouse via Int Hex 33
IF inregs.ax <> 0 THEN
  MouseSw = 0                     '0 indicates no mouse present
ELSE
  MouseSw = 1                     'mouse found
END IF
GetPort                           'get the ports from the user
screenboxes
LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
'End of housekeeping

'Main execution loop
DO
	IF TrkSw = 1 AND MisFrms > Mxmisfrms THEN  'See if lock lost
	LOCATE ITrkErrLn + 1, 63: PRINT "No Lock"
	IF Lx <> 1 THEN
		PRINT #1, Null;         'clear the serial port
		ELSE
			IF SData = 1 THEN PRINT #1, "#:Qw#";    'stop W
			IF SData = 2 THEN PRINT #1, "#:Qe#";    'stop E
			IF SData = 4 THEN PRINT #1, "#:Qs#";    'stop S
			IF SData = 8 THEN PRINT #1, "#:Qn#";    'stop N
	END IF
	Xerror = 0
	Yerror = 0
	dx = 0
	Dy = 0
	Nchr = 0
	SOUND 400, 5                            'cloud alert
  END IF
  scanfield                                 'Everything happens in the routine
LOOP WHILE KKey <> 99                       'Exit on Esc key
END

REM $STATIC
DEFSNG A-Z
SUB Calibrate   'Calibrate the rate of the motor drive system
   
TrkSw = 0                    'make sure tracking is off
LOCATE ITrkErrLn + 1, 44
PRINT "Tracking Off"
Aggressive = 0               'set to 100% correction rate
LOCATE 5, 69: PRINT USING "+##"; Aggressive;
LOCATE 7, 45: PRINT "Calibration running";
scanfield     'XPos calibration
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
StartXp = Xp
StartYp = Yp
Nchr = XCalSec * 30
SData = XPos
SerialWrite
scanfield
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
EndXp = Xp
EndYp = Yp
DeltaX = EndXp - StartXp
DeltaY = EndYp - StartYp
'IF DeltaX > 0 THEN
'  lo = 10
'  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
'  LOCATE 6, 4: PRINT "Please rotate the camera by 180 deg."
'  LOCATE 7, 3: PRINT "and press the F5 Key to continue."
'  LOCATE 9, 4: PRINT "The X direction of the error was in"
'  LOCATE 10, 3: PRINT "the wrong direction for the program."
'  LOCATE 12, 4: PRINT "Calibration needs to be run again!"
'  DO WHILE lo = 10
'    checkey
'  LOOP
'  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
'  LOCATE 7, 45: PRINT "                   ";
'  LOCATE 8, 45: PRINT "                   ";
'  LOCATE 9, 45: PRINT "                   ";
'  LOCATE 10, 45: PRINT "                   ";
'  LOCATE 11, 45: PRINT "                   ";
'  EXIT SUB
'END IF
XPosMag = SQR(DeltaX * DeltaX + DeltaY * DeltaY)
IF XPosMag > 0 THEN
  XPosCon = XCalSec / XPosMag
ELSE
  XPosCon = 0
END IF    'Angle (Theta) in radians is from rotation of the chip relative to x y axes
IF ABS(DeltaX) > 0 THEN
  Angle = ATN(DeltaY / DeltaX)
ELSE
  Angle = 0
END IF
SData = XNeg
SerialWrite
LOCATE 8, 45: PRINT "X Pos Cal: "; : PRINT USING "##.## "; XPosCon;
LOCATE 12, 45: PRINT "Angle:";
PRINT USING "###.#"; (Angle * 180 / 3.14159);    'convert radians to degrees
PRINT CHR$(248);
scanfield                   'XNeg calibration
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
StartXp = Xp
StartYp = Yp
Nchr = XCalSec * 30
SData = XNeg
SerialWrite
scanfield
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
EndXp = Xp
EndYp = Yp
DeltaX = EndXp - StartXp
DeltaY = EndYp - StartYp
XNegMag = SQR(DeltaX * DeltaX + DeltaY * DeltaY)
IF XNegMag > 0 THEN
  XNegCon = XCalSec / XNegMag
ELSE
  XNegCon = 0
END IF
SData = XPos
SerialWrite
LOCATE 9, 45: PRINT "X Neg Cal: "; : PRINT USING "##.## "; XNegCon;

IF Ysw = 2 THEN
  LOCATE 7, 45: PRINT "Calibration Done   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB  'no dec control
END IF
scanfield               'YPos calibration
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
  StartXp = Xp
  StartYp = Yp
  Nchr = YCalSec * 30
  SData = YPos
  SerialWrite
  scanfield
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
  EndXp = Xp
  EndYp = Yp
  DeltaX = EndXp - StartXp
  DeltaY = EndYp - StartYp
  YPosMag = SQR(DeltaX * DeltaX + DeltaY * DeltaY)
  IF YPosMag > 0 THEN
	YPosCon = YCalSec / YPosMag
  ELSE
	YPosCon = 0
  END IF
  SData = YNeg
  SerialWrite
  scanfield
'deadband is Yp in size, DeltaY is how far it got driven off. Yp/DeltaY is
'the further distance it needed to be driven.  Yp is also the pixel count
'of the deadband in the DEC distance.
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
'  IF DeltaY <> 0 THEN 'otherwise a divide by 0          'Bob's backlash stuff
'    Nchr = ((Yp - StartYp) / DeltaY) * (YCalSec * 30)
'    SData = YNeg
'    IF Nchr >= 1 THEN 'we have a whole char to send
'     SerialWrite
'    END IF
'  END IF
  scanfield
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
  EndYp = Yp
  DeltaY = EndYp - StartYp

LOCATE 10, 45: PRINT "Y Pos Cal: "; : PRINT USING "##.## "; YPosCon;
'YNeg calibration
scanfield
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
StartXp = Xp
StartYp = Yp
Nchr = YCalSec * 30
SData = YNeg
SerialWrite
scanfield
IF NT < 1 OR NT >= NTMax THEN
  lo = 10
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 6, 4: PRINT "NO LOCK ON A STAR HAS BEEN FOUND!  "
  LOCATE 7, 3: PRINT "Please adjust the Exposure and Zero"
  LOCATE 9, 4: PRINT "settings to obtain a circle around "
  LOCATE 10, 3: PRINT "the desired guide star before "
  LOCATE 11, 4: PRINT "running the calibration."
  LOCATE 12, 3: PRINT "Press the F5 Key to continue."
  DO WHILE lo = 10
	checkey
  LOOP
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  EXIT SUB
  END IF
EndXp = Xp
EndYp = Yp
DeltaX = EndXp - StartXp
DeltaY = EndYp - StartYp
YNegMag = SQR(DeltaX * DeltaX + DeltaY * DeltaY)
IF YNegMag > 0 THEN
  YNegCon = YCalSec / YNegMag
ELSE
  YNegCon = 0
END IF
SData = YPos
SerialWrite
LOCATE 11, 45: PRINT "Y Neg Cal: "; : PRINT USING "##.## "; YNegCon;
LOCATE 7, 45: PRINT "Calibration Done   ";

END SUB

SUB checkey                       'ROUTINE TO READ THE CURSOR KEYS

hi = 0      'multiple use variable
DO
SELECT CASE INKEY$
  CASE ""
	hi = 2

  CASE CHR$(1)           'Ctrl + A is switch for processing filter
	IF FaintSw = 0 THEN
	  LOCATE 29, 2: PRINT USING "Filter: 1=Faint, 2=Al's, 3=Median: #"; FilterSw;
	  INPUT aaa
	  IF aaa > 0 THEN FilterSw = aaa
	  IF FilterSw > 3 THEN FilterSw = 3
	  FaintSw = 1
	  SavBufSw = 1
	ELSE
	  FaintSw = 0
	  SavBufSw = 0
	END IF
	Inif = 0
	CLS
	screenboxes
 
  CASE CHR$(5)           'Ctrl + E is manual entry for Eexposure
	LOCATE 29, 2: PRINT USING "Exposure ##.##"; QExp / 250;
	INPUT aaa
	IF aaa <> 0 THEN QExp = aaa * 250
	IF QExp < 14 THEN QExp = 14
	IF QExp > 8000 THEN QExp = 8000
	CLS
	Inif = 0
	screenboxes

  CASE CHR$(6)           'Ctrl + F is manual entry for Floor
	LOCATE 29, 2: PRINT USING "Floor 0-64: ##"; floor;
	INPUT aaa
	IF aaa > -1 THEN floor = aaa
	IF floor > 64 THEN floor = 64
	CLS
	Inif = 0
	screenboxes

  CASE CHR$(2)           'Ctrl + B is manual entry for boost
	LOCATE 29, 2: PRINT USING "Boost 0-5: #.#"; Boost;
	INPUT aaa
	IF aaa > -1 THEN Boost = aaa
	IF Boost > 5 THEN Boost = 5
	CLS
	Inif = 0
	screenboxes



  CASE CHR$(26)           'Ctrl + Z is manual entry for Zero
	LOCATE 29, 2: PRINT USING "Zero ###"; Qoffset;
	INPUT aaa
	IF aaa <> 0 THEN Qoffset = aaa
	IF Qoffset < 1 THEN Qoffset = 1
	IF Qoffset > 245 THEN Qoffset = 245
	CLS
	Inif = 0
	screenboxes

  CASE CHR$(7)           'Ctrl + G is manual entry for Gain
	LOCATE 29, 2: PRINT USING "Gain ###"; QContr;
	INPUT aaa
	IF aaa <> 0 THEN QContr = aaa
	IF QContr < 11 THEN QContr = 11
	IF QContr > 254 THEN QContr = 254
	CLS
	Inif = 0
	screenboxes

  CASE CHR$(12)           'Ctrl + L is manual entry for move limit
	LOCATE 29, 2: PRINT USING "Move Limit ###"; MvLimit;
	INPUT aaa
	IF aaa <> 0 THEN MvLimit = aaa
	IF MvLimit < 1 THEN MvLimit = 1
	IF MvLimit > 200 THEN MvLimit = 200
	CLS
	Inif = 0
	screenboxes

  CASE CHR$(8)           'Ctrl + H is manual entry for Missed Frames limit
	LOCATE 29, 2: PRINT USING "Missed Frames Limit ##"; Mxmisfrms;
	INPUT aaa
	IF aaa <> 0 THEN Mxmisfrms = aaa
	IF Mxmisfrms < 1 THEN Mxmisfrms = 1
	IF Mxmisfrms > 99 THEN Mxmisfrms = 99
	CLS
	Inif = 0
	screenboxes
   

  CASE "6"            'go to 6 bit reads
	QMode = &H2
	BPPix = &H2       'BPPix is really 6 but you need to divide by 3 for xfrs
	LOCATE ITrkErrLn, ITrkErrLoc: PRINT "6"
	SetNumH = pixelsperline * BPPix \ BPTx \ DecmFact
	DkCapF = 0
	DkF = 0
	LOCATE ITrkErrLn + 4, 44: PRINT "Dark Frame Sub OFF";
	IF Threshold < 15 THEN
	   Threshold = Threshold * 4
	   LOCATE ITrkErrLn + 3, 60: PRINT USING "##"; Threshold
	END IF

  CASE "4"            'go to 4 bit reads
	QMode = &H0
	BPPix = &H4
	LOCATE ITrkErrLn, ITrkErrLoc: PRINT "4"
	SetNumH = pixelsperline * BPPix \ BPTx \ DecmFact
	DkCapF = 0
	DkF = 0
	LOCATE ITrkErrLn + 4, 44: PRINT "Dark Frame Sub OFF";
	IF Threshold > 14 THEN
	  Threshold = Threshold \ 4
	  LOCATE ITrkErrLn + 3, 60: PRINT USING "##"; Threshold
	END IF

  CASE "h", "H"
	LINE (Col, Row)-(EndCol, EndRow), 0, BF'clearscreen
	LOCATE 2, 3: PRINT "By D.Davies, M.Niemi and B.May. Keys  ";
	LOCATE 3, 3: PRINT "are defined below.  Ctrl + E,Z,G,L,H  ";
	LOCATE 4, 3: PRINT "to permit manual entry of some values.";
	LOCATE 5, 3: PRINT "Track will occur when a star is above ";
	LOCATE 6, 3: PRINT "the threshold within a frame.  Use the";
	LOCATE 7, 3: PRINT "exposure controls and threshold to    ";
	LOCATE 8, 3: PRINT "adjust things until a circle appears. ";
	LOCATE 9, 3: PRINT "Exit with the ESC key will save the   ";
	LOCATE 10, 3: PRINT "current program setup information.    ";
	LOCATE 11, 3: PRINT "For more info see: www.ameritech.net  ";
	LOCATE 12, 3: PRINT "/users/mniemi000/auto.html            ";
	LOCATE 13, 3: PRINT "Program date 05/28/01          M.Niemi";
	LOCATE 15, 3: PRINT "     Press any key to continue";
	DO WHILE INKEY$ = ""
	LOOP
	LINE (Col, Row)-(EndCol, EndRow), 0, BF'clearscreen
  CASE Null + CHR$(75)    'left arrow
	KKey = 2
	Nchr = 15
	SData = XPos
	SerialWrite
  CASE Null + CHR$(77)    'right arrow
	KKey = 2
	Nchr = 15
	SData = XNeg
	SerialWrite
  CASE Null + CHR$(72)    'up arrow
	KKey = 2
	Nchr = 15
	SData = YPos
	SerialWrite
  CASE Null + CHR$(80)    'down arrow
	KKey = 2
	Nchr = 15
	SData = YNeg
	SerialWrite
  CASE Null + CHR$(59)    'X-goal -2 F1
	XGoal = XGoal - 2
	IChange = 1
	IF XGoal < 40 THEN XGoal = 40
	KKey = 1
  CASE Null + CHR$(60)    'X-goal +2 F2
	XGoal = XGoal + 2
	IChange = 1
	IF XGoal > EndCol - 40 THEN XGoal = EndCol - 40
	KKey = 1
  CASE Null + CHR$(61)    'Y-goal -2 F3
	Ygoal = Ygoal - 2
	IChange = 1
	IF Ygoal < 40 THEN Ygoal = 40
	KKey = 1
  CASE Null + CHR$(62)    'Y-goal +2 F4
	Ygoal = Ygoal + 2
	IChange = 1
	IF Ygoal > EndRow - 40 THEN Ygoal = EndRow - 40
	KKey = 1
  CASE "z"                'Black level down
	KKey = 1
	Qoffset = (Qoffset - 1)
	IF Qoffset < 1 THEN Qoffset = 1
  CASE "Z"                'Black level up
	KKey = 1
	IF Qoffset > 245 THEN Qoffset = 245
	Qoffset = (Qoffset + 1)
  CASE "g"                'Gain down
	KKey = 1
	IF QContr < 11 THEN QContr = 11
	QContr = (QContr - DQCont)
  CASE "G"                'Gain up
	KKey = 1
	IF QContr > 254 - DQCont THEN QContr = 254 - DQCont
	QContr = (QContr + DQCont)
  CASE "e"                'Exposure time down
	KKey = 1
	QExp = (QExp - (QExp \ 4))
	IF QExp < 14 THEN QExp = 14
  CASE "E"                'Exposure time up
	KKey = 1
	IF QExp > 8000 THEN QExp = 8000
	QExp = (QExp + (QExp \ 4))
  CASE "x"            'X cal down
	XCalSec = XCalSec - 1
	IF XCalSec <= 1 THEN XCalSec = 1
	LOCATE 2, 70: PRINT XCalSec;
  CASE "X"                'X cal up
	XCalSec = XCalSec + 1
	IF XCalSec >= 9 THEN XCalSec = 9
	LOCATE 2, 70: PRINT XCalSec;
  CASE "y"                'DEC cal down
	YCalSec = YCalSec - 1
	IF YCalSec <= 1 THEN YCalSec = 1
	LOCATE 3, 70: PRINT YCalSec;
  CASE "Y"                'DEC cal up
	YCalSec = YCalSec + 1
	IF YCalSec >= 6 THEN YCalSec = 6
	LOCATE 3, 70: PRINT YCalSec;
  CASE "d"                'Deadband down
	DeadBand = DeadBand - .1
	IF DeadBand <= 0 THEN DeadBand = 0
	LOCATE 4, 70: PRINT USING "##.#"; DeadBand;
  CASE "D"                'Deadband up
	DeadBand = DeadBand + .1
	IF DeadBand >= 6 THEN DeadBand = 6
	LOCATE 4, 70: PRINT USING "##.#"; DeadBand;
  CASE "v"                'Aggressive down
	Aggressive = Aggressive - 1
	IF Aggressive <= -9 THEN Aggressive = -9
	LOCATE 5, 69: PRINT USING "+##"; Aggressive;
  CASE "V"               'Aggressive up
	Aggressive = Aggressive + 1
	IF Aggressive >= 9 THEN Aggressive = 9
	LOCATE 5, 69: PRINT USING "+##"; Aggressive;
  CASE "w"                'Wait time down
	WaitTime = WaitTime - 1
	IF WaitTime <= 0 THEN WaitTime = 0
	LOCATE 6, 69: PRINT USING "###.##"; WaitTime / 18.2;
  CASE "W"                'Wait time up
	WaitTime = WaitTime + 1
	IF WaitTime >= 182 THEN WaitTime = 182
	LOCATE 6, 69: PRINT USING "###.##"; WaitTime / 18.2;
  CASE "n", "N"           'Red mode switch
	IF RedSw = 1 THEN RedSw = 0 ELSE RedSw = 1
	SetPallete
  CASE "c", "C"           'Clear Screen
	LINE (Col, Row)-(EndCol, EndRow), 0, BF
  CASE "r", "R"           'Record corrections
	IF RecSw = 0 THEN
		OPEN "track.dat" FOR OUTPUT AS #5
		LOCATE 29, 42: PRINT "Recording to file Track.dat";
		RecSw = 1
		ELSE
			CLOSE #5
			LOCATE 29, 42: PRINT "                                      ";
			RecSw = 0
	END IF
  CASE "t", "T"           'Track toggle on and off.
	IF TrkSw = 0 THEN
	  LOCATE ITrkErrLn + 1, 44
	  PRINT "Tracking  On"
	  LOCATE 29, 42
	  PRINT "                                     ";
	  MisFrms = 0
	  MvlimitCtr = 0
	  TrkSw = 1
	ELSE
	  LOCATE ITrkErrLn + 1, 44
	  PRINT "Tracking Off"
	  TrkSw = 0
	END IF
  CASE "k", "K"  'toggle averaging
	LOCATE ITrkErrLn + 2, 63
	IF AvgSw = 0 THEN
	  FOR AvgCtr = 1 TO 14
	  AvgPos(AvgCtr, 1) = 0
	  AvgPos(AvgCtr, 2) = 0
	  NEXT AvgCtr
	  AvgCtr = 0
	  PRINT "Frame Avg ON "
	  AvgSw = 1
	ELSE
	  PRINT "Frame Avg OFF"
	  LOCATE 29, 42: PRINT "                                      ";
	  AvgSw = 0
END IF
  CASE "f", "F"           'Frame size switch
	SELECT CASE Isize
	  CASE IS = 0
		Isize = 3: IChange = 1
		LOCATE ITrkErrLn + 2, 44: PRINT "Full Frame    ";
		LINE (Col, Row)-(EndCol, EndRow), 0, BF
	  CASE IS = 1
		Isize = 0: IChange = 1
		LOCATE ITrkErrLn + 2, 44: PRINT "16 X 16  Frame  ";
		LINE (Col, Row)-(EndCol, EndRow), 0, BF
	  CASE IS = 2
		Isize = 1: IChange = 1
		LOCATE ITrkErrLn + 2, 44: PRINT "40 X 40  Frame  ";
		LINE (Col, Row)-(EndCol, EndRow), 0, BF
	  CASE IS = 3
		Isize = 2: IChange = 1
		LOCATE ITrkErrLn + 2, 44: PRINT "80 X 80  Frame  ";
		LINE (Col, Row)-(EndCol, EndRow), 0, BF
	  CASE ELSE
	END SELECT
  CASE "p", "P"            'Display the image or not
	IF PSetSw = 0 THEN PSetSw = 1 ELSE PSetSw = 0
  CASE Null + CHR$(63)    'DEC fact. = 1 F5 not listed nor done
	lo = 0
  CASE Null + CHR$(64)    'DEC fact. = 2 F6 not listed
  CASE Null + CHR$(66)    'Calibrate  F8
	Calibrate
  CASE Null + CHR$(67)  'Reverse DEC F9
	SELECT CASE Ysw
	  CASE IS = 0         'Y reversed turn off
		Ysw = 2
		YPos = 0
		YNeg = 0
		LOCATE 7, 69: PRINT "Y Off     ";
	  CASE IS = 1         'Y normal turn reversed
		Ysw = 0
		YPos = 8
		YNeg = 4
		LOCATE 7, 69: PRINT "Y Reversed";
	  CASE IS = 2         'Y control off turn normal
		Ysw = 1
		YPos = 4
		YNeg = 8
		LOCATE 7, 69: PRINT "Y Normal  ";
	  CASE ELSE
	END SELECT
CASE Null + CHR$(68)    'Capture Darkframe F10
	DoDkCapF = 1
CASE "j", "J"' Darkframe Toggle
	IF DkF = 1 THEN
	  DkF = 0
	ELSE
	  DkF = 1
	END IF
	screenboxes
CASE "I"
	AvgTrg = AvgTrg + 1
	IF AvgTrg > 14 THEN AvgTrg = 14
	LOCATE ITrkErrLn + 3, 78: PRINT USING "##"; AvgTrg
  CASE "i"
	AvgTrg = AvgTrg - 1
	IF AvgTrg < 2 THEN AvgTrg = 1
	LOCATE ITrkErrLn + 3, 78: PRINT USING "##"; AvgTrg
  CASE "L"
	Threshold = Threshold + 1
		IF BPPix = 2 THEN
		  IF Threshold > 63 THEN
			Threshold = 63
		  END IF
		ELSE
		  IF Threshold > 14 THEN
			Threshold = 14
		  END IF
		END IF
  LOCATE ITrkErrLn + 3, 60: PRINT USING "##"; Threshold
  CASE "l"
	IF Threshold < 1 THEN Threshold = 1
	Threshold = Threshold - 1
	LOCATE ITrkErrLn + 3, 60: PRINT USING "##"; Threshold
  CASE "M"
	AvgIdx = AvgIdx + 1
	IF AvgIdx > 14 THEN AvgIdx = 14
	LOCATE ITrkErrLn + 2, 78: PRINT USING "##"; AvgIdx
  CASE "m"
	AvgIdx = AvgIdx - 1
	IF AvgIdx < 2 THEN AvgIdx = 2
	LOCATE ITrkErrLn + 2, 78: PRINT USING "##"; AvgIdx
  CASE "o", "O"           'Circles Toggle
	IF ITCirF = 0 THEN
	  ITCirF = 1
	  LOCATE 15, 70: PRINT "          "
	ELSE
	  ITCirF = 0
	  LOCATE 15, 70: PRINT "circle off"
	END IF
  CASE "u", "U"           'interface toggle
	IF Lx = 0 THEN
		Lx = 1
		CLOSE #1
			IF QDataC = 1 THEN
				COM$ = "COM1: 9600,N,8,1,CD0,CS0,DS0,RS" 'LX200 port only
				OPEN COM$ FOR RANDOM AS #1
				PRINT #1, Null;         'clear the serial port
				END IF
			IF QDataC = 2 THEN
				COM$ = "COM2: 9600,N,8,1,CD0,CS0,DS0,RS" 'LX200 port only
				OPEN COM$ FOR RANDOM AS #1
				PRINT #1, Null;         'clear the serial port
				END IF
	LOCATE 18, 63: PRINT "LX-200 Interface"
	ELSE
		Lx = 0
		CLOSE #1
			IF QDataC = 1 THEN
				COM$ = "COM1: 300,N,8,1,BIN,RS,OP0,DS0"   'Activate the port for output
				OPEN COM$ FOR RANDOM AS #1
				PRINT #1, Null;         'clear the serial port
				END IF
			IF QDataC = 2 THEN
				COM$ = "COM2: 300,N,8,1,BIN,RS,OP0,DS0"
				OPEN COM$ FOR RANDOM AS #1
				PRINT #1, Null;         'clear the serial port
				END IF
		LOCATE 18, 63: PRINT "UART Interface  "
	END IF

  CASE CHR$(27)           'Exit the program
	OPEN "camcfg.dat" FOR RANDOM AS #4 LEN = 4
	PUT #4, 1, QDataC
	PUT #4, 2, QDataP
	PUT #4, 3, QExp
	PUT #4, 4, Qoffset
	PUT #4, 5, QContr
	PUT #4, 6, YCalSec
	PUT #4, 7, XCalSec
	PUT #4, 8, DeadBand
	PUT #4, 9, Aggressive
	PUT #4, 10, WaitTime
	PUT #4, 11, Threshold
	PUT #4, 12, Ysw
	PUT #4, 13, XPosCon
	PUT #4, 14, XNegCon
	PUT #4, 15, YPosCon
	PUT #4, 16, YNegCon
	PUT #4, 17, AvgSw
	PUT #4, 18, AvgIdx
	PUT #4, 19, AvgTrg
	PUT #4, 20, Lx
	PUT #4, 21, Mxmisfrms
	PUT #4, 22, MvLimit
	PUT #4, 23, QMode
	PUT #4, 24, BPPix
	PUT #4, 25, SetNumH

CLOSE #4
	END
  CASE ELSE               'other keys
END SELECT
LOOP UNTIL hi = 2
' Used Symbols in CAPS 46ABCDEFGhIJkLmNOPQRsTuVWXyZ|ARROWS|Esc| |
  IF KKey = 1 THEN
	LOCATE 18, 2: PRINT USING "##.##"; QExp / 250; : PRINT " Sec.";
	PRINT USING "#######"; Qoffset; QContr;
	PRINT USING "####.##"; dx; Dy;
	LINE (Col, Row)-(EndCol, EndRow), 0, BF'clearscreen
  END IF
  IF KKey = 2 THEN
	DEF SEG = 0             'Empty the keyboard buffer for the cursor keys
	Byte = PEEK(&H41A)
	POKE (&H41C), Byte
  END IF

  KKey = 0
  SetNumH = pixelsperline * BPPix \ BPTx \ DecmFact
  settopln = topline
  setleft = left \ 2 + 6

END SUB

SUB ClkTicks     'do the timing loop with the 18.2/sec. RTC
	
DEF SEG = 0
DO UNTIL Ticks < 1
  CurrentTick = PEEK(&H46C)
  DO WHILE CurrentTick = PEEK(&H46C)
  LOOP
  Ticks = Ticks - 1
LOOP
DEF SEG     'get back the default segment

END SUB

SUB DCommand                      'Sends a byte out the parallel port

IF Icamon <> 1 THEN         'no camera
  EXIT SUB
END IF
OUT LData, LCommand
AMilliSecs = 5
delay                       'delay for 5 counts
OUT LControl, &H6
DO WHILE (&H8 AND INP(LStatus)) = 0     'get the Hi nibble
LOOP
hi = &HF0 AND INP(LStatus)  'and status reg with F0 for the 4 bits
OUT LControl, &HE           'toggle the ack bit back again
delay
DO WHILE (&H8 AND INP(LStatus)) <> 0    'now go for the Lo nibble
LOOP
lo = &HF0 AND INP(LStatus)   'and status reg with F0 for the 4 bits

END SUB

SUB delay     'delay for a bit

NDelay = 2 * AMilliSecs
FOR IDELAY = 1 TO NDelay
NEXT IDELAY

END SUB

SUB DReset              'Reset the camera
	
AMilliSecs = 10
OUT LControl, &H0        'set reset bit low xxxx x0xx
delay
OUT LControl, &HE

END SUB

SUB DSetup                    'Setup the camera with the variables.

IF Icamon <> 1 THEN         'no camera
  EXIT SUB
END IF
DReset
LCommand = &H11: DCommand     'vertical size
LCommand = setnumv: DCommand
LCommand = &H13: DCommand
LCommand = SetNumH: DCommand
LCommand = &HD: DCommand      'first line to send
LCommand = settopln: DCommand
LCommand = &HF: DCommand      'first pixel to send
LCommand = setleft: DCommand
LCommand = &H19: DCommand     'contrast
LCommand = QContr: DCommand
LCommand = &H1F: DCommand     'black level.
LCommand = Qoffset: DCommand
LCommand = &HB: DCommand      'exposure
QExp2 = 255
LCommand = QExp2: DCommand

END SUB

SUB GetPort           'Get the port address from the bios point in menory

OPEN "camcfg.dat" FOR RANDOM AS #4 LEN = 4
GET #4, , QDataC
IF EOF(4) = 0 THEN
	LOCATE 5, 3: PRINT "Getting last setup from disk."
	GET #4, 1, QDataC
	GET #4, 2, QDataP
	GET #4, 3, QExp
	GET #4, 4, Qoffset
	GET #4, 5, QContr
	GET #4, 6, YCalSec
	GET #4, 7, XCalSec
	GET #4, 8, DeadBand
	GET #4, 9, Aggressive
	GET #4, 10, WaitTime
	GET #4, 11, Threshold
	GET #4, 12, Ysw
	GET #4, 13, XPosCon
	GET #4, 14, XNegCon
	GET #4, 15, YPosCon
	GET #4, 16, YNegCon
	GET #4, 17, AvgSw
	GET #4, 18, AvgIdx
	GET #4, 19, AvgTrg
	GET #4, 20, Lx
	GET #4, 21, Mxmisfrms
	GET #4, 22, MvLimit
	GET #4, 23, QMode
	GET #4, 24, BPPix
	GET #4, 25, SetNumH
   

IF QDataC = 1 THEN
	  IF Lx = 1 THEN
		COM$ = "COM1: 9600,N,8,1,CD0,CS0,DS0,RS" 'LX200 port only
		ELSE
		COM$ = "COM1: 300,N,8,1,BIN,RS,OP0,DS0"   'Activate the port for output
	  END IF
		OPEN COM$ FOR RANDOM AS #1
		PRINT #1, Null;         'clear the serial port
	END IF
	IF QDataC = 2 THEN
	  IF Lx = 1 THEN
		COM$ = "COM2: 9600,N,8,1,CD0,CS0,DS0,RS" 'LX200 port only
		ELSE
		COM$ = "COM2: 300,N,8,1,BIN,RS,OP0,DS0"
	  END IF
		OPEN COM$ FOR RANDOM AS #1
		PRINT #1, Null;               'clear any garbage on the port
	END IF
	DEF SEG = &H40                    'Get the address of the LPT1 port
	IF QDataP = 1 THEN
	  LData = PEEK(&H8) + (PEEK(&H9) * &H100)
	ELSE
	  LData = PEEK(&HA) + (PEEK(&HB) * &H100)
	END IF
	DEF SEG
ELSE
  QDataC = 0             'make sure the do loop works
  DO                                'Get the serial port number
	LOCATE 13, 19: PRINT "The only valid Serial Port numbers are 1 or 2"
	LData = 1
	LOCATE 11, 11: INPUT "Which Serial Port do you want to use for the autoguider? ", QDataC
	IF QDataC = 1 THEN
	  COM$ = "COM1: 300,N,8,1,BIN,RS,OP0,DS0"
	  OPEN COM$ FOR RANDOM AS #1
	  PRINT #1, Null;         'clear the serial port
	END IF
	IF QDataC = 2 THEN
	  COM$ = "COM2: 300,N,8,1,BIN,RS,OP0,DS0"
	  OPEN COM$ FOR RANDOM AS #1
	  PRINT #1, Null;         'clear the serial port
	END IF
	IF (QDataC <> 1) AND (QDataC <> 2) THEN
	  LOCATE 19, 33: PRINT "Not a valid port address at that location!"
	  SOUND 1800, 4
	END IF
  LOOP WHILE QDataC <> 1 AND QDataC <> 2
  LOCATE 19, 33: PRINT "                                           "
  QDataP = 0             'make sure the do loop works
  DO
	LOCATE 13, 19: PRINT "The only valid Parallel Port numbers are 1 or 2"
	LOCATE 11, 11: INPUT "Which Parallel Port do you want to use for the autoguider? ", QDataP
	DEF SEG = &H40
	IF QDataP = 1 THEN
	  LData = PEEK(&H8) + (PEEK(&H9) * &H100)
	ELSE
	  LData = PEEK(&HA) + (PEEK(&HB) * &H100)
	END IF
	IF (QDataP <> 1) AND (QDataP <> 2) THEN
	  LOCATE 19, 33: PRINT "Not a valid port address at that location!"
	  SOUND 1800, 4
	END IF
	DEF SEG
  LOOP WHILE (QDataP <> 1) AND (QDataP <> 2)
  LOCATE 13, 19: PRINT "                                               "
  LOCATE 11, 11: PRINT "                                                                "
  LOCATE 19, 33: PRINT "                                           "
END IF
CLOSE #4
LStatus = LData + 1: LControl = LData + 2
timeIt = TIMER + 2      'get the time and increment by 2 seconds for checking

	SELECT CASE Ysw
	  CASE IS = 0         'Y reversed
		YPos = 0: YPos = YPos XOR 8
		YNeg = 0: YNeg = YNeg XOR 4
'        LOCATE 26, 44: PRINT "Y Toggle Reversed";
	  CASE IS = 1         'Y normal
		YPos = 0: YPos = YPos XOR 4
		YNeg = 0: YNeg = YNeg XOR 8
'        LOCATE 26, 44: PRINT "Y Toggle Normal  ";
	  CASE IS = 2         'Y control off
		YPos = 0: YNeg = 0       'turn off the Y control.
'        LOCATE 26, 44: PRINT "Y Toggle Off     ";
	  CASE ELSE
	END SELECT

DReset
LCommand = &HD         'try and detect the camera
OUT LData, LCommand
AMilliSecs = 5
delay
OUT LControl, &H6
delay
OUT LControl, &HE
delay
LCommand = &H17
OUT LControl, &H6
delay
OUT LControl, &HE
delay
OUT LData, &H11
AMilliSecs = 5
delay                       'delay for 5 counts
OUT LControl, &H6
FOR Iv = 1 TO 32700
Ix = 0
IF (&H8 AND INP(LStatus)) = 0 THEN
  Ix = 1
END IF
NEXT Iv
IF Ix = 1 THEN
  Icamon = 0                 'loop timeout indicates no camera found
END IF
hi = &HF0 AND INP(LStatus)  'and status reg with F0 for the 4 bits
OUT LControl, &HE           'toggle the ack bit back again
delay
FOR Iv = 1 TO 32700
Ix = 0
IF (&H8 AND INP(LStatus)) <> 0 THEN
  Ix = 1
END IF
NEXT Iv
IF Ix = 1 THEN
 Icamon = 0                 'loop timeout indicates no camera found
 screenboxes
END IF

END SUB

SUB LimitAbort
IF TrkSw = 1 THEN
	MvlimitCtr = MvlimitCtr + 1     'about on second move > Mvlimit pixels
	IF MvlimitCtr < 2 THEN EXIT SUB
	IF Lx <> 1 THEN
		PRINT #1, Null;         'clear the serial port
		ELSE
			IF SData = 1 THEN PRINT #1, "#:Qw#";    'stop W
			IF SData = 2 THEN PRINT #1, "#:Qe#";    'stop E
			IF SData = 4 THEN PRINT #1, "#:Qs#";    'stop S
			IF SData = 8 THEN PRINT #1, "#:Qn#";    'stop N
	END IF
	SOUND 400, 5
	LOCATE ITrkErrLn + 1, 63: PRINT "ABORTED"
	LOCATE ITrkErrLn + 1, 44
	PRINT "Tracking Off"
	LOCATE 29, 42
	PRINT "Guide Abort 2nd Move > limit of ";
	PRINT USING "##   "; MvLimit;
	TrkSw = 0
	Xerror = 0
	Yerror = 0
	dx = 0
	Dy = 0
	Nchr = 0
  END IF

END SUB

SUB mouse

IF MouseSw = 0 THEN EXIT SUB        'MouseSw = 0 says mouse not found on init
CALL INTERRUPT(&H33, inregs, outregs)

END SUB

SUB scanfield 'scan in the image into the display

IF IChange <> 0 THEN          'else change the size to the next size
  LINE (Col, Row)-(EndCol, EndRow), 0, BF  'clearscreen
  FOR Iv = -1 TO 241          'clear image arrays on size change
	FOR ih = -1 TO 321
	  img2(Iv, ih) = 0
	  img3(Iv, ih) = 0
	NEXT ih
  NEXT Iv
  IF Isize = 3 THEN           'define large area - full image
	pixelsperline = 320       'number of pixels in a line
	left = 2
	setnumv = 240             'num lines
	topline = 2
	inregs.ax = 7           ' limit mouse x-axis
	inregs.cx = 44
	inregs.dx = 284
	mouse
	inregs.ax = 8           ' limit mouse y-axis
	inregs.cx = 44
	inregs.dx = 204
	mouse
	inregs.ax = 1: mouse
  ELSEIF Isize = 2 THEN       'medium sized image - 80 X 80 pixels
	pixelsperline = 80
	left = XGoal - (pixelsperline \ 2)
	setnumv = 80
	topline = Ygoal - (setnumv \ 2)
  ELSEIF Isize = 1 THEN       'small sized image 36x36 pixel image
	pixelsperline = 40
	left = XGoal - (pixelsperline \ 2)
	setnumv = 40
	topline = Ygoal - (setnumv \ 2)
	inregs.ax = 7           ' limit mouse x-axis
	inregs.cx = 22
	inregs.dx = 304
	mouse
	inregs.ax = 8          ' limit mouse y-axis
	inregs.cx = 22
	inregs.dx = 222
	mouse
	inregs.ax = 1: mouse
  ELSEIF Isize = 0 THEN       'small sized image 16 X 16 pixel image
	pixelsperline = 16
	left = XGoal - (pixelsperline \ 2)
	setnumv = 16
	topline = Ygoal - (setnumv \ 2)
	inregs.ax = 7           ' limit mouse x-axis
	inregs.cx = 16
	inregs.dx = 314
	mouse
	inregs.ax = 8           ' limit mouse y-axis
	inregs.cx = 16
	inregs.dx = 230
	mouse
	inregs.ax = 1: mouse
  END IF
  SetNumH = pixelsperline * BPPix \ BPTx \ DecmFact
  setleft = left \ 2 + 6
  settopln = topline
  IChange = 0
END IF
IF DoDkCapF = 1 THEN          'get a full frame dark
	pixelsperline = 320       'number of pixels in a line
	left = 2
	setnumv = 240             'num lines
	topline = 2
	SetNumH = pixelsperline * BPPix \ BPTx \ DecmFact
	setleft = left \ 2 + 6
	settopln = topline
	IChange = 1               'set flag so we return to the set size
END IF
Xfer = (pixelsperline * BPPix) \ BPTx   'StartRead  get an image
IF KKey = 0 THEN              'Skip delay if update because of keystroke
  Ticks = WaitTime
  ClkTicks
END IF
Xp = 0: Yp = 0: Xt = 0: Yt = 0: NT = 0  'reset the star finder vars
DSetup                        'setup the camera paramaters
LOCATE 17, 12: PRINT "Exp"
Ticks = QExp \ 14             'delay for exposure time so you get the
ClkTicks                      'correct image and past 255 do bulb exp.
LOCATE 17, 12: PRINT "   "
LCommand = &H7: DCommand
LCommand = QMode: DCommand    'read raw nibbles from the camera
FOR Iv = 1 TO setnumv STEP DecmFact
  FOR ih = 1 TO Xfer STEP DecmFact  'Read a line
	IF Icamon = 1 THEN              'camera present?
	  '2 reads of 4 bits for 4 bit mode produces 2 pixels
	  OUT LControl, &H6
	  DO WHILE (&H8 AND INP(LStatus)) = 0   'get the Hi nibble
	  LOOP
	  hi = (INP(LStatus) AND &HF0)
	  OUT LControl, &HE
	  DO WHILE (&H8 AND INP(LStatus)) <> 0  'get the Lo nibble
	  LOOP
	  lo = (INP(LStatus) AND &HF0) \ 16
	  IF BPPix <> 2 THEN
		hi = lookup(hi \ 16)
		lo = lookup(lo)
		IF floor > 0 THEN             'clip to floor value
		  IF hi < floor THEN
			hi = 0
		  END IF
		  IF lo < floor THEN
			lo = 0
		  END IF
		END IF
		IF Boost <> 1 THEN
		hi = hi * Boost             'Multiply by boost value
		lo = lo * Boost
		IF hi > 15 THEN
		  hi = 15
		END IF
		IF lo > 15 THEN
		  lo = 15
		END IF
		END IF
		img2(Iv, ih * 2 - 1) = hi
		img2(Iv, ih * 2) = lo
		IF SavBufSw = 1 THEN       'Copy array for 3X3 matrix operation
		  img3(Iv, ih * 2 - 1) = hi
		  img3(Iv, ih * 2) = lo
		END IF
		IF DoDkCapF = 1 THEN      'move the data to the darkframe buffer
		  dark1(Iv, ih * 2 - 1) = hi
		  dark1(Iv, ih * 2) = lo
		END IF
	  ELSE
		Img1(1) = hi + lo 'Combine into first of 3 bytes for 6 bit read
		OUT LControl, &H6
		DO WHILE (&H8 AND INP(LStatus)) = 0   'get the Hi nibble
		LOOP
		hi = (INP(LStatus) AND &HF0)
		OUT LControl, &HE
		DO WHILE (&H8 AND INP(LStatus)) <> 0  'get the Lo nibble
		LOOP
		lo = (INP(LStatus) AND &HF0) \ 16
		Img1(2) = hi + lo     'Combine into second of 3 bytes for 6 bit read
		OUT LControl, &H6
		DO WHILE (&H8 AND INP(LStatus)) = 0   'get the Hi nibble
		LOOP
		hi = (INP(LStatus) AND &HF0)
		OUT LControl, &HE
		DO WHILE (&H8 AND INP(LStatus)) <> 0  'get the Lo nibble
		LOOP
		lo = (INP(LStatus) AND &HF0) \ 16
		Img1(3) = hi + lo      'Combine into third of 3 bytes for 6 bit read
		'decode 3 bytes into 4 pixels
		hi = &H3F - (Img1(1) \ 4)
		'low 2 bits first byte and 4 upper bits of 2nd byte
		lo = &H3F - (((Img1(1) AND &H3) * 16) OR (Img1(2) \ 16))
		IF floor > 0 THEN
		  IF hi < floor THEN
			hi = 0
		  END IF
		  IF lo < floor THEN
			lo = 0
		  END IF
		END IF
		IF Boost <> 1 THEN
		  hi = hi * Boost             'Multiply by boost value
		  lo = lo * Boost
		  IF hi > 63 THEN
			hi = 63
		  END IF
		  IF lo > 63 THEN
			lo = 63
		  END IF
		END IF
		img2(Iv, ih * 4 - 3) = hi
		img2(Iv, ih * 4 - 2) = lo
		IF SavBufSw = 1 THEN       'Copy array for 3X3 matrix operation
		  img3(Iv, ih * 4 - 3) = hi
		  img3(Iv, ih * 4 - 2) = lo
		END IF
		IF DoDkCapF = 1 THEN      'Move the data to the darkframe buffer
		  dark1(Iv, ih * 4 - 3) = hi
		  dark1(Iv, ih * 4 - 2) = lo
		END IF
		'low 4 bits of 2nd byte and upper 2 bits of byte 3
		hi = &H3F - ((Img1(2) AND &HF) * 4) OR (Img1(3) \ 64)
		lo = &H3F - (Img1(3) AND &H3F)
		IF floor > 0 THEN
		  IF hi < floor THEN
			hi = 0
		  END IF
		 IF lo < floor THEN
			lo = 0
		  END IF
		END IF
		IF Boost <> 1 THEN
		  hi = hi * Boost             'Multiply by boost value
		  lo = lo * Boost
		  IF hi > 63 THEN
			hi = 63
		  END IF
		  IF lo > 63 THEN
			lo = 63
		  END IF
		END IF
		img2(Iv, ih * 4 - 1) = hi
		img2(Iv, ih * 4) = lo
		IF SavBufSw = 1 THEN       'Copy array for 3X3 matrix operation
		  img3(Iv, ih * 4 - 1) = hi
		  img3(Iv, ih * 4) = lo
		END IF
		IF DoDkCapF = 1 THEN      'Move the data to the darkframe buffer
		  dark1(Iv, ih * 4 - 1) = hi
		  dark1(Iv, ih * 4) = lo
		END IF
	  END IF
	END IF
  NEXT ih
NEXT Iv
LineCtr = 0
OUT LControl, &H6             'send end of frame indication
AMilliSecs = 5
delay
OUT LControl, &HE
FOR Iv = 1 TO setnumv STEP DecmFact
  ivv = Iv + topline        '6 bit pixels are a 3 byte read for 4 pixels.
  FOR ih = 1 TO pixelsperline STEP DecmFact
  ih2 = ih + left
  IF DkF = 1 THEN               'If flag is set, do dark frame subtraction
	img2(Iv, ih) = img2(Iv, ih) - dark1((Iv + topline - 2), (ih + left - 2))
	img3(Iv, ih) = img2(Iv, ih)
	IF img2(Iv, ih) < 0 THEN
	  img2(Iv, ih) = 0          'limit to 0 for lower end
	  img3(Iv, ih) = 0
	END IF
  END IF
  IF FaintSw = 1 THEN               'Are we are doing image filtering?
	IF FilterSw = 1 THEN            'ST-4 style faint mode processing
	  FaintSum = 0
	  FOR FaintY = -1 TO 1
		FOR FaintX = -1 TO 1
		  FaintSum = FaintSum + img3((Iv + FaintY), (ih + FaintX))
		NEXT FaintX
	  NEXT FaintY
	  IF FaintSum > 63 THEN
		FaintSum = 63
	  END IF
	  img2(Iv, ih) = FaintSum
	END IF

	IF FilterSw = 2 THEN            'Al Kelly's kernel using median filter variables
	  AKSum = 0
	  FOR MedianY = -1 TO 1
		FOR MedianX = -1 TO 1
		  AKSum = AKSum + img3((Iv + MedianY), (ih + MedianX)) * AK(MedianY, MedianX)
		NEXT MedianX
	  NEXT MedianY
	  IF AKSum > 63 THEN
		AKSum = 63
	  END IF
	  img2(Iv, ih) = AKSum          'Single Prec FP sum to integer image array
	END IF

	IF FilterSw = 3 THEN            'Median filter processing
	  Sort(1) = img3((Iv - 1), (ih))
	  Sort(2) = img3(Iv, ih)
	  Sort(3) = img3((Iv + 1), (ih))
	  IF Sort(2) > Sort(1) AND Sort(2) > Sort(3) THEN
		img2(Iv, ih) = ((Sort(1) + Sort(3)) \ 2)
	  END IF
	END IF

  END IF
	IF PSetSw = 1 THEN
	  IF BPPix = 2 THEN
		PSET (ih2, ivv), img2(Iv, ih) \ 4
		hi = img2(Iv, ih)
		ELSE
		  PSET (ih2, ivv), img2(Iv, ih)
		  hi = img2(Iv, ih)
	  END IF
	END IF
	IF ivv = Ygoal AND ih2 = XGoal THEN
	  LOCATE 12, 78: PRINT USING "##"; hi;
	END IF
	IF Iv > 1 AND ih > 1 THEN
	  IF NT < NTMax THEN
		IF hi > Threshold THEN
		  NT = NT + 1
		  Xt = Xt + ih2
		  Yt = Yt + ivv
		END IF
	  END IF
	END IF
  NEXT ih
NEXT Iv
LOCATE 29, 22: PRINT "PV > Threshold:"; USING "###"; NT;
IF DoDkCapF = 1 THEN
  DoDkCapF = 0
  DkCapF = 1
  LOCATE ITrkErrLn + 4, 49: PRINT "Saved Sub OFF";
END IF
inregs.ax = 3: mouse        'read the mouse
IF outregs.bx = 1 THEN      'left button down ?
  IChange = 1
  Xtemp = outregs.cx        'then set new X and Y goal
  Ytemp = outregs.dx
  XGoal = ((Xtemp \ 2) * 2) 'make goal divisable by 2
  Ygoal = ((Ytemp \ 2) * 2)

END IF
LINE (XGoal, Ygoal - 3)-(XGoal, Ygoal + 3), 15     'draw the cross hair
LINE (XGoal - 3, Ygoal)-(XGoal + 3, Ygoal), 15
IF NT > 0 AND NT < NTMax THEN
  Xp = Xt / NT                'get the average values of the points
  Yp = Yt / NT                'thus getting the center of the image
  LOCATE ITrkErrLn + 1, 63: PRINT "Lock             "
  IF ITCirF = 1 THEN          'draw the circle if desired
	IF NT < 10 THEN NT = 10   'limit size of circle to displayable size
	IF Isize = 1 AND NT > 30 THEN NT = 30
	IF Isize = 0 AND NT > 12 THEN NT = 12
	IF NT > 50 THEN NT = 50
	CIRCLE (Xp, Yp), NT \ 2, 14
  END IF
  dx = XGoal - Xp
  Dy = Ygoal - Yp
END IF

  IF TrkSw = 0 AND RecSw > 0 THEN
	  PRINT #5, USING "+##.## +##.## notrk"; dx; Dy
	  END IF

IF NT >= NTMax THEN     'AUTOMATIC TRACKING COMP..too many points sound warning
  LOCATE ITrkErrLn + 1, 63: PRINT "No Lock"
  dx = 0
  Dy = 0
END IF

IF TrkSw = 1 THEN 'Move the motors for X and Y delta Skip if track is off
  LOCATE 7, 45: PRINT "                   ";
  LOCATE 8, 45: PRINT "                   ";
  LOCATE 9, 45: PRINT "                   ";
  LOCATE 10, 45: PRINT "                   ";
  LOCATE 11, 45: PRINT "                   ";
  IF NT > 0 AND NT < NTMax THEN
	MisFrms = 0
	  IF AvgSw = 1 THEN
		AvgExp = AvgExp + 1
		AvgCtr = AvgCtr + 1
		AvgPos(AvgCtr, 1) = dx
		AvgPos(AvgCtr, 2) = Dy
		LOCATE 29, 42: PRINT USING "## ####.## ####.##      "; AvgCtr; AvgPos(AvgCtr, 1); AvgPos(AvgCtr, 2);
			IF AvgCtr = AvgIdx OR AvgCtr > AvgIdx THEN AvgCtr = 0
			END IF
	   LOCATE 18, 26: PRINT USING "####.##"; dx; Dy;
	   ELSE
			MisFrms = MisFrms + 1
			LOCATE ITrkErrLn + 1, 63: PRINT "        "
			LOCATE ITrkErrLn + 1, 78: PRINT USING "##"; MisFrms
	   END IF
  IF AvgSw = 1 AND AvgExp = AvgTrg THEN
	TotDx = 0
	TotDy = 0
		FOR AvgPtr = 1 TO AvgIdx
		TotDx = TotDx + AvgPos(AvgPtr, 1)
		TotDy = TotDy + AvgPos(AvgPtr, 2)
		IF RecSw > 0 THEN
		  PRINT #5, USING "+##.## +##.## point"; AvgPos(AvgPtr, 1); AvgPos(AvgPtr, 2)
		END IF
'       PRINT USING "+###.### "; AvgPos(AvgPtr, 1); AvgPos(AvgPtr, 2); AvgPtr; TotDx; TotDy; AvgCtr
		NEXT AvgPtr
	dx = TotDx / (AvgPtr - 1)
	Dy = TotDy / (AvgPtr - 1)
'   PRINT USING "+###.### "; TotDx; TotDy; TotDx / (AvgPtr - 1); TotDy / (AvgPtr - 1); AvgPtr - 1
	IF AvgCtr = AvgIdx OR AvgCtr > AvgIdx THEN AvgCtr = 0
	LOCATE 29, 65: PRINT USING "####.##"; dx; Dy;
	LOCATE 18, 26: PRINT USING "####.##"; dx; Dy;
		ELSEIF AvgSw = 1 THEN
		checkey
		EXIT SUB
  END IF
  AvgExp = 0
  Cs = COS(Angle)
  Sn = SIN(Angle)
  Xerror = dx * Cs + Dy * Sn
  Yerror = Dy * Cs - dx * Sn
  IF ABS(Xerror) > MvLimit OR ABS(Yerror) > MvLimit THEN
	LimitAbort
	EXIT SUB
	END IF
  IF ABS(Xerror) > DeadBand THEN
	LOCATE 9, 45: PRINT "Correcting"
	LOCATE 10, 46: PRINT "X of "; : PRINT USING "###.##"; Xerror;
	IF Xerror > 0 THEN       'check for polarity
	  SData = XNeg          'we're ahead so slow down
	  Nchr = (ABS(Xerror * XNegCon) * 30)
	ELSE
	  SData = XPos
	  Nchr = (ABS(Xerror * XPosCon) * 30)
	END IF
	SerialWrite
  END IF
  IF ABS(Yerror) > DeadBand THEN
	IF Ysw = 2 THEN         'no DEC tracking
	  LOCATE 7, 45: PRINT "Ignoring";
	  LOCATE 8, 46: PRINT "Y of ";
	  PRINT USING "###.##"; Yerror;
	ELSE
	  LOCATE 7, 45: PRINT "Correcting"
	  IF Yerror > 0 THEN  'positive error
		SData = YNeg
		Nchr = (ABS(Yerror * YNegCon) * 30)
	  ELSEIF Yerror < 0 THEN
		SData = YPos
		Nchr = (ABS(Yerror * YPosCon) * 30)
	  END IF
	  YErOld = Yerror
	  LOCATE 8, 46: PRINT "Y of ";
	  PRINT USING "###.##"; Yerror;
	  SerialWrite
	END IF
  END IF
  IF RecSw > 0 THEN
	  IF AvgSw = 1 THEN
	  PRINT #5, USING "+##.## +##.## avg"; dx; Dy
		ELSE
		PRINT #5, USING "+##.## +##.## trk"; dx; Dy
	  END IF
   END IF
ELSE
  LOCATE 18, 26: PRINT USING "####.##"; dx; Dy;
END IF
checkey

END SUB

SUB screenboxes

LINE (Col - 1, Row - 1)-(EndCol + 1, EndRow + 1), 15, B 'draw the Image Display Box
LINE (340, 205)-(639, 288), 11, B 'draw the Track Control Box
ITrkErrLn = 14: ITrkErrLoc = 44
ITrkLn = ITrkErrLn
LocTrackStatus = ITrkErrLoc
LOCATE ITrkErrLn, ITrkErrLoc
IF BPPix = 2 THEN
  PRINT "6 Bits Per Pixel"
ELSE
  PRINT "4 Bits Per Pixel"
END IF
IF FaintSw = 1 THEN
  LOCATE ITrkErrLn, 63
  IF FilterSw = 1 THEN
	PRINT "Faint Mode     ON";
  END IF
  IF FilterSw = 2 THEN
	PRINT "Al's Kernel    ON";
  END IF
  IF FilterSw = 3 THEN
	PRINT "Median Kernel  ON";
  END IF
  ELSE
  LOCATE ITrkErrLn, 63
  PRINT "Image Filter  OFF";
END IF
LOCATE ITrkErrLn + 1, 44        'tracking on/off select
IF TrkSw = 0 THEN PRINT "Tracking OFF";
IF TrkSw = 1 THEN PRINT "Tracking  ON";
IF Isize = 0 THEN               'print the image capture size
	pixelsperline = 16
	LOCATE ITrkErrLn + 2, 44
	PRINT "16 X 16  Frame";
  ELSEIF Isize = 1 THEN
	pixelsperline = 40
	LOCATE ITrkErrLn + 2, 44
	PRINT "40 X 40 Frame";
  ELSEIF Isize = 2 THEN
	pixelsperline = 80
	LOCATE ITrkErrLn + 2, 44
	PRINT "80 X 80  Frame";
  ELSEIF Isize = 3 THEN
	pixelsperline = 320
	LOCATE ITrkErrLn + 2, 44
	PRINT "Full Frame ";
  END IF
LOCATE ITrkErrLn + 3, 63: PRINT "Avg Trigger "
LOCATE ITrkErrLn + 3, 78: PRINT USING "##"; AvgTrg
IF AvgSw = 1 THEN
  LOCATE ITrkErrLn + 2, 63
  PRINT "Frame Avg ON "
END IF
IF AvgSw = 0 THEN
  LOCATE ITrkErrLn + 2, 63
  PRINT "Frame Avg OFF"
END IF
LOCATE ITrkErrLn + 2, 78: PRINT USING "##"; AvgIdx
IF DkCapF = 0 THEN            'check for a darkframe in memory
  LOCATE ITrkErrLn + 4, 44: PRINT "Dark Frame";
ELSE
  LOCATE ITrkErrLn + 4, 44: PRINT "Dark Saved Sub OFF";
END IF
LOCATE ITrkErrLn + 4, 55
IF DkF = 0 THEN
  PRINT "Sub OFF";
ELSE
  IF DkCapF = 0 THEN            'check for a darkframe in memory
	PRINT "Missing";
	DkF = 0
  ELSE
	PRINT "Sub ON ";            'no dark found
  END IF
END IF
IF Lx = 0 THEN
	LOCATE 18, 63: PRINT "UART Interface  "
		ELSE
		LOCATE 18, 63: PRINT "LX-200 Interface"
		END IF
LOCATE ITrkErrLn + 3, 44
PRINT "Threshold Level "; : PRINT USING "##"; Threshold;
LINE (1, EndRow + 9)-(EndCol + 1, 288), 11, B 'Camera Parameter box
LINE (12, EndRow + 2)-STEP(16, 6), 0, BF      'brightness levels
LINE (30, EndRow + 2)-STEP(16, 6), 1, BF
LINE (48, EndRow + 2)-STEP(16, 6), 2, BF
LINE (66, EndRow + 2)-STEP(16, 6), 3, BF
LINE (84, EndRow + 2)-STEP(16, 6), 4, BF
LINE (102, EndRow + 2)-STEP(16, 6), 5, BF
LINE (120, EndRow + 2)-STEP(16, 6), 6, BF
LINE (138, EndRow + 2)-STEP(16, 6), 7, BF
LINE (156, EndRow + 2)-STEP(16, 6), 8, BF
LINE (174, EndRow + 2)-STEP(16, 6), 9, BF
LINE (192, EndRow + 2)-STEP(16, 6), 10, BF
LINE (210, EndRow + 2)-STEP(16, 6), 11, BF
LINE (228, EndRow + 2)-STEP(16, 6), 12, BF
LINE (246, EndRow + 2)-STEP(16, 6), 13, BF
LINE (264, EndRow + 2)-STEP(16, 6), 14, BF
LINE (282, EndRow + 2)-STEP(16, 6), 15, BF
LOCATE 17, 3
PRINT "Exposure     Zero   Gain  X      Y ";
LOCATE 18, 2: PRINT USING "##.##"; QExp / 250; : PRINT " Sec.";
PRINT USING "#######"; Qoffset; QContr;
PRINT USING "####.##"; dx; Dy;
LINE (340, 0)-(639, 195), 11, B   'Calibration parameter box
LOCATE 2, 45: PRINT "X   Calibration Seconds: "; XCalSec
LOCATE 3, 45: PRINT "Y   Calibration Seconds: "; YCalSec
LOCATE 4, 45: PRINT "Deadband in Pixels     : ";
PRINT USING "##.#"; DeadBand;
LOCATE 5, 45: PRINT "Aggressivness -9 to +9 :";
LOCATE 5, 69: PRINT USING "+##"; Aggressive;
LOCATE 6, 45: PRINT "Delay added to Exp. Sec:";
LOCATE 6, 69: PRINT USING "###.##"; WaitTime / 18.2;
IF Inif = 0 THEN              'make the X/Y control part only once
  LOCATE 7, 65: PRINT "-"
  LOCATE 11, 65: PRINT "+"
  SELECT CASE Ysw
	CASE 0                    'reversed
	  LOCATE 7, 69: PRINT "Y Reversed ";
	CASE 1                    'normal
	  LOCATE 7, 69: PRINT "Y Normal   ";
	CASE 2                    'off
	  LOCATE 7, 69: PRINT "Y Off      ";
	CASE ELSE
  END SELECT
  LOCATE 7, 66: PRINT CHR$(24)
  LOCATE 8, 66: PRINT CHR$(179);
  LOCATE 9, 66: PRINT CHR$(179); "Y"
  LOCATE 10, 66: PRINT CHR$(179);
  LOCATE 11, 66: PRINT CHR$(25)
  LOCATE 8, 70: PRINT "-"
  LOCATE 9, 70: PRINT CHR$(27); CHR$(196); CHR$(196); CHR$(196); CHR$(196); CHR$(196); CHR$(196); CHR$(45); CHR$(26)
  LOCATE 8, 78: PRINT "+"
  LOCATE 8, 74: PRINT "X"
  LOCATE 12, 59: PRINT "Cursor Pixel Value";
  Inif = 1
END IF

LINE (1, 298)-(639, 464), 11, B 'Control Keys Display Box
LOCATE 20, 5: PRINT "Move the Scope     Move image area"
LOCATE 21, 7: PRINT CHR$(24); " Y Neg             F3   Y-2";
LOCATE 22, 3: PRINT CHR$(27); "X Neg  -  X Pos"; CHR$(26); "   F1 X-2  -  X+2 F2";
LOCATE 23, 7: PRINT CHR$(25); " Y Pos             F4   Y+2";
LINE (3, 300)-(161, 366), 11, B 'Box for the scope move
LINE (163, 300)-(322, 366), 11, B 'Box for the image move
LOCATE 24, 2: PRINT "E/e Exposure Up/Dn";
LOCATE 25, 2: PRINT "Z/z Zero Up/Dn";
LOCATE 26, 2: PRINT "G/g Gain Up/Dn";
LOCATE 27, 2: PRINT "              ";
LINE (3, 368)-(161, 432), 11, B
LOCATE 24, 22: PRINT "X/x X Cal Up/Dn";
LOCATE 25, 22: PRINT "Y/y Y Cal Up/Dn";
LOCATE 26, 22: PRINT "D/d DeadBand Up/Dn";
LOCATE 27, 22: PRINT "v/V Aggressive U/D";
LINE (163, 368)-(322, 432), 11, B
LOCATE 20, 42: PRINT "6/4 Pixel Depth    N/n Red Mode Toggle";
LOCATE 21, 42: PRINT "T/t Track Toggle   F/f Frame Sz Toggle";
LOCATE 22, 42: PRINT "W/w Delaytime U/D  F8  Calibrate      ";
LOCATE 23, 42: PRINT "L/l Thr Lvl Up/Dn  F9  Y Toggle       ";
LOCATE 24, 42: PRINT "H/h Help Screen    F10 Take Darkframe ";
LOCATE 25, 42: PRINT "J/j Dk Fr  Toggle  K/k Fr Avg Toggle  ";
LOCATE 26, 42: PRINT "I/i Avg Trig Up/Dn M/m Avg Cnt Up/Dn  ";
LOCATE 27, 42: PRINT "U/u UART or LX-200 R/r Rec. Centroid  ";
LOCATE 28, 42: PRINT "Esc Quit           ^A Filter Toggle   ";
IF Icamon = 0 THEN
  LOCATE 28, 2: PRINT "CAMERA NOT FOUND  RESTART PGM TO DETECT";
END IF
END SUB

SUB SerialWrite  '1 character at 300 BPS UART clock rate is 1/30 of a second
'motor on time.  This is async communications. .6 = clock ticks per 1/30
'second.

Nchr = Nchr * (1 + Aggressive / 10)         'adjust move Aggressiveness

IF Lx <> 1 THEN                             'external UART controller
PRINT #1, STRING$(Nchr, CHR$(SData));
		PRINT #1, Null;
'        LOCATE 29, 44: PRINT Nchr; CHR$(SData + 48);
		Ticks = Nchr * .6066
		ClkTicks
ELSE
' At 9600 bps, 10 characters or 100 bits takes about .01 sec to complete
' One clock tick is about .06 seconds so forget about the xmit time
		savedata = SData
		IF SData = 1 THEN B$ = "#:Mw#"          'start W
		IF SData = 2 THEN B$ = "#:Me#"          'start E
		IF SData = 4 THEN B$ = "#:Ms#"          'start S
		IF SData = 8 THEN B$ = "#:Mn#"          'start N
		PRINT #1, "#:RG#";                      'Guide speed only!
		PRINT #1, B$;                           'Note ";" to suppress carriage return
		Ticks = Nchr * .6066                    'wait time still based on 1/30 sec.
		ClkTicks                                'wait
		IF SData = 1 THEN PRINT #1, "#:Qw#";    'stop W
		IF SData = 2 THEN PRINT #1, "#:Qe#";    'stop E
		IF SData = 4 THEN PRINT #1, "#:Qs#";    'stop S
		IF SData = 8 THEN PRINT #1, "#:Qn#";    'stop N  "
		Ticks = 1                               'wait one tick for motion to stop
		ClkTicks
END IF

END SUB

SUB SetPallete    'change the palette between white and red

Gamma = .9
FOR IP = 0 TO 15
  x = IP / 15
  Intens = 63 * (x ^ Gamma)
  PALETTE IP, 65536 * Intens + 256 * Intens + Intens
  IF RedSw = 1 THEN
	Intens = Intens * 31 / 47
	PALETTE IP, 65536 * 1 + 256 * 1 + Intens
  END IF
NEXT IP

END SUB