Version 12.5 (4 line LCD) and 12.1d: Added 'Calibrate on' in bottom left corner of 4 line LCD indicating if the controller has been calibrated. Fixed software stops. In the past both motors stopped if one hit a software stop. Now motors continue to their own stops if required. Version 12.4 fixed bug in RelayMode B Version 12.3 added difference display for manual portable use (top line shows difference in heading ratheer than true heading of antenna) Version 12.2 added choice of declin geocentric or true from qth. Fixed Save TimeOffset bug PWM out of brake TIP31 for speed control. Hbridge include with checksum in received data and remote activation of Auto/Manual switch Added RTC and averaging choice for move or static and added Yaesu GS232A (changed menu items 28, 29, 35) Version 11.0 (these latter three versions except where stated Supports new REMOTE software through additional checksum. Hardware clock 2 line display Added support for an Hbridge - untested at this time Version 9.52 Supports new REMOTE software through additional chacksum. 4 line display, hardware clock Version 8.40 Supports new REMOTE software through additional checksum. Software clock 2 line display Version 9.03 Added support for Hardware Clock (DS1307), added RunOn facility to allow for beam systems that run on for a time after power removed from motor. Added averaging choice for moving and static systems to improve readout and to a degree accuracy. Added support for Yaesu GS232A. Note that a GS232A is not needed to control Yaesu rotators but some have asked for this. Check manual for changes. Version 8.30 Same as Version 9.03 but with the original software clock Version 8.22 I've been doing some more work on the hysteresis and swap direction part of the software. I believe I have improved the operation considerably. Version 8.11 I found an error in the hysteresis code. This version now tracks to the centre of the hysteresis band and then does not move until the object moves outside the hysteresis set in the PIC menu. I have also implemented a small degree of averaging even when the antenna is moving. This helps overcome jitter. Averaging needs to be turned on for this to happen. Version 8.00 Requires 18F4682 or 18F4685. Code works in both chips. Added support for SCA6T inclinometer chip Reconfigured doppler calculations for improved accuracy Returned Nutation calculation to original form now more space on chip Version 7.02 has a number of changes from earlier versions FIXes Ver 7.02 Fixed a speed problem with the relays in Mode B. If no delay was set in menu for change of direction a relay could come on before the opposite direction relay had released. Fuses could be blown. This was why I had chosen mode A in the first place. I have now placed a short delay (100msec) in the code if ModeB is selected and there is no delay set in the menu. This should give time for relays to settle. As I had a few spare bytes I have fixed the Time setting to prevent numbers > 59 for seconds and minutes and >23 for hours when adjusting time in the menu. Version 7.00 has a number of changes from earlier versions MENU The menu is no longer accessed by putting the unit in auto and holding the UP button. I have moved the Park function to a menu item and reallocated the Park Switch to become a MENU switch. To access the Menu system put the MENU switch on. Releasing the menu switch returns to the main operational mode. Note that the memory is not updated in most menu changes until either the up or down button is pressed. PARK No accessed through the menu system. To access put menu switch on, press down once, press right or left button to change to put in Park mode. Return to main screen with the menu switch. Put in Auto mode. BRAKE The brake now operates as follows: If a brake is present (set in menu item 7) whenever a direction button is pressed in manual or the unit is in auto mode and a direction command is issued the brake relay is actuated to take the brake off. When the unit has not issed a movement command for 5 secs the brake is set by the relay turning off. GPS The unit now supports a GPS running NMEA at 4800 baud serial output. The active data should go to pin 2 of the DB25 and ground to pin 7. The information is loaded only at boot up. Hold down the UP button and turn the unit on. The button should be held on for at least one second after the Version number screen is displayed. The Up button may then be released and the unit will wait at the Version screen until an acquired string is received. DOPPLER A doppler calculation is made if the frequency is entered in menu item 36. The doppler is displayed every 5 seconds on the second line. It is a guide based on rotation of the earth only. Movement due to apogee/perigee calculations had to be removed to fit the GPS entry system. Tip: once the menu is accessed it is sometimes faster to work from the last item of the menu system using the down button. THE FUTURE As people mention new ideas I will keep track of them here. Some await more memory. Currently I have about 40 bytes free so this is a bit limiting - Hi, Hi (1) Change to a PIC18F4685 with 96K of memory. This should allow me to return the full doppler calculation (2) Make greater use of the menu to reduce the number of switches and therefore free some ports for extra features. (3) Arrange for a high speed/low speed movement of the rotator motors. Two possible methods (a) PWM from the PIC (b) a lowspeed output on two pins to allow external logic (4) Interface to USB for the computer and to USB GPS units (5) A hardware clock (6) Consider I2C extender chips to create more ports (7) Emulation in the unit for GS-232 to control Yaesu rotators