105a106,116
> Kobulnicky, Sullins &   First use of this code to control telescope by means
> Weger   Nov. 22, 2008    of new Vertex RSI Antenna Control System model 133.
> Weger   Feb. 20, 2009   Install save_offsets() and reapply_offsets() in order
>                          to preserve offsets between fundamental mode changes.
> Weger   Aug. 26, 2009   Install do_solar_tracking().  Call it, do_fixed_
>                          tracking() and do_non_solar_tracking from do_vrsi().
>                          Test planet tracking at WIRO.
> Weger   Feb.  3, 2010   Activate gpib, hifi &  focus procedures and the focus
>                          portion of do_paddle().  Test focus control at WIRO.
> Weger   Apr.     2010   Install rates modifications for solar and non-solar
>                          tracking.
231c242,247
< double old_haoffsum, old_decoffsum;   /* Initialize these for arbitration */
---
> double vrsi_harate, vrsi_decrate;
> double vrsi_ha_due_rate, vrsi_dec_due_rate;
> double old_ha_due_rate, old_dec_due_rate;
> double d_haoff_due_rate, d_decoff_due_rate;
> double haoffsum, decoffsum;
> double old_haoffsum, old_decoffsum;   /* For front-end/ACU arbitration. */
1454a1471,1476
>         vrsi_ha_due_rate = 0.0;
>         vrsi_dec_due_rate = 0.0;
>         old_ha_due_rate = 0.0;
>         old_dec_due_rate = 0.0;
>         d_haoff_due_rate = 0.0;
>         d_decoff_due_rate = 0.0; 
1491c1513
< 	  sprintf(command, "STAR 1,%.4f,%.4f,J,%.1f,1,S,\"%s\"", \
---
> 	  sprintf(command, "STAR 1,%lf,%lf,J,%f,1,S,\"%s\"", \
1497c1519
<           sprintf(command, "PD %.4f,%.4f", vrsi_DES_HA,vrsi_DES_DEC);
---
>           sprintf(command, "PD %lf,%lf", vrsi_DES_HA,vrsi_DES_DEC);
1515c1537
<         sprintf(command, "OFFSET %.5f,%.5f", old_haoffsum, old_decoffsum);
---
>         sprintf(command, "OFFSET %lf,%lf", old_haoffsum, old_decoffsum);
1691a1714
> 
1738,1739c1761
<     vrsi_haoff, vrsi_decoff,
<     haoffsum, decoffsum,
---
>     vrsi_haoff=0.0, vrsi_decoff=0.0,
1743a1766
> /*   double  delta_t;       /\* Time since last iteration. (SECONDS) *\/ */
1764c1787
<   /* Obtain current offsets from the ACU: */
---
>   /* Obtain current, manual offsets from the ACU: */
1767c1790,1832
<   sscanf(reply, "%.4f,%.4f", &vrsi_haoff, &vrsi_decoff);
---
>   sscanf(reply, "%lf,%lf", &vrsi_haoff, &vrsi_decoff);
> 
>   /* If tracking a non_solar object, */
>   /* then place any offsets-due-rates into the OFFSET registers: */
> 
>   if (tinfo->motion_type == NON_SOLAR) {
> 
>     /* First, obtain total, current offsets-due-rates from the ACU: */
> 
>     vrsi_tcpip("RMON", reply, 80, 1, "10.212.212.121", 5001);
>     sscanf(reply, "%lf,%lf,%lf,%lf", &vrsi_ha_due_rate,\
> 	 &vrsi_dec_due_rate, &vrsi_harate, &vrsi_decrate);
> 
>     printf("RMON reply:\n");
>     printf(" vrsi_offsets_due_rates: %lf, %lf\n",\
> 	   vrsi_ha_due_rate, vrsi_dec_due_rate);
>     printf(" vrsi_rates: %lf, %lf\n",\
> 	   vrsi_harate, vrsi_decrate);
> 
>     /* Get increment in offsets_due_rates since last trackloop: */
> 
>     d_haoff_due_rate = (vrsi_ha_due_rate - old_ha_due_rate);
>     d_decoff_due_rate = (vrsi_dec_due_rate - old_dec_due_rate);
>     old_ha_due_rate = vrsi_ha_due_rate;
>     old_dec_due_rate = vrsi_dec_due_rate;
> 
>     /* Increment tracking screen OFFSETs with any offsets_due_rates: */
> 
>     printf("Old offsets due rates:\n");
>     printf(" HA:  %lf\n", old_ha_due_rate);
>     printf(" Dec: %lf\n", old_dec_due_rate);
> 
>     printf("Delta offsets due rates:\n");
>     printf(" HA:  %lf\n", d_haoff_due_rate);
>     printf(" Dec: %lf\n", d_decoff_due_rate);
> 
>     OFFSET_HA += (d_haoff_due_rate * cos_dec);
>     OFFSET_DEC += d_decoff_due_rate;
>   }
>   
>   /* Obtain the sum of desired offsets from shared memory; but, */
>   /*   remove any offset-due-rate increment just added */
>   /*   for the case of NON_SOLAR motion: */
1769c1834,1835
<   /* Obtain the sum of desired offsets from front-end computer: */
---
> /*   haoffsum = -DIAL_HA + tinfo->dial_ha + (COL_ZERO_HA + COL_HA + OFFSET_HA + OFFSET_2_HA)/cos_dec; */
> /*   decoffsum = -DIAL_DEC + COL_ZERO_DEC + COL_DEC + OFFSET_DEC + OFFSET_2_DEC; */
1771,1772d1836
< /*  haoffsum = -DIAL_HA + tinfo->dial_ha + (COL_ZERO_HA + COL_HA + OFFSET_HA + OFFSET_2_HA)/cos_dec; */
< /*  decoffsum = -DIAL_DEC + COL_ZERO_DEC + COL_DEC + OFFSET_DEC + OFFSET_2_DEC; */
1773a1838,1839
>   haoffsum = tinfo->dial_ha + (COL_HA + (OFFSET_HA - (vrsi_ha_due_rate * cos_dec)))/cos_dec;
>   decoffsum = COL_DEC + (OFFSET_DEC - vrsi_dec_due_rate);
1775,1776c1841,1842
<   haoffsum = tinfo->dial_ha + (COL_HA + OFFSET_HA)/cos_dec;
<   decoffsum = COL_DEC + OFFSET_DEC;
---
> /*   haoffsum = tinfo->dial_ha + (COL_HA + OFFSET_HA)/cos_dec; */
> /*   decoffsum = COL_DEC + OFFSET_DEC; */
1786c1852,1854
<   /* If current and actual offsets differ, */
---
>   /* Now look for any difference between ACU's Manual Offset and */
>   /*   the sum of Shared Memory Offsets less any offset_due_rate */
>   /*   which is added to the SMem Offsets for NON_SOLAR motion: */
1790c1858
<     /* and if difference originated from the front-end, */
---
>     /* If a difference originated from the Shared Memory, */
1798c1866
<       sprintf(command, "JOG %.5f,%.5f", d_haoffsum, d_decoffsum);
---
>       sprintf(command, "JOG %lf,%lf", d_haoffsum, d_decoffsum);
1804,1805c1872,1874
<     /* But if difference originated from the hand paddle,
<          then update the front-end's memory of the offsets: */
---
>     /* But if difference originated from a PDU hand paddle, */
>     /*   which has not yet been implemented,                */
>     /*   then update the front-end's memory of the offsets: */
1821,1822c1890,1891
<   if ((vrsi_HA - haoffsum) <= 180.0)
<     HA = vrsi_HA - haoffsum;
---
>   if ((vrsi_HA - vrsi_ha_due_rate - haoffsum) <= 180.0)
>     HA = vrsi_HA - vrsi_ha_due_rate - haoffsum;
1824,1825c1893,1894
<     HA = vrsi_HA - haoffsum - 360.0;
<   DEC = vrsi_DEC - decoffsum;
---
>     HA = vrsi_HA - vrsi_ha_due_rate - haoffsum - 360.0;
>   DEC = vrsi_DEC - vrsi_dec_due_rate - decoffsum;
2154c2223
<     sprintf(command, "STAR 1,%.5f,%.5f,J,%.3f,1,S,\"%s\"", \
---
>     sprintf(command, "STAR 1,%lf,%lf,J,%f,1,S,\"%s\"", \
2181c2250
<        mode change.  Clear rates explicitly. */
---
>        mode change.  Clear rates and offsets-due-rates explicitly. */
2183a2253,2256
> 
>       OFFSET_HA -= (vrsi_ha_due_rate * cos_dec);
>       OFFSET_DEC -= vrsi_dec_due_rate;
> 
2185a2259,2283
> 
> 
> /*       haoffsum = tinfo->dial_ha + (COL_HA + (OFFSET_HA - (vrsi_ha_due_rate * cos_dec)))/cos_dec; */
> /*       decoffsum = COL_DEC + (OFFSET_DEC - vrsi_dec_due_rate); */
> 
>       haoffsum = tinfo->dial_ha + (COL_HA + OFFSET_HA)/cos_dec;
>       decoffsum = COL_DEC + OFFSET_DEC;
> 
>       /* Add in the nod motions if needed */
>       if (NODDED) {
>         decoffsum += (NOD_DEC);
>         haoffsum  += (NOD_HA ) / cos_dec;
>       }
> 
>       sprintf(command, "OFFSET %lf,%lf", haoffsum, decoffsum);
>       vrsi_tcpip(command, reply, 80, 1, "10.212.212.121", 5001);
>       old_haoffsum = haoffsum;
>       old_decoffsum = decoffsum;
>       old_ha_due_rate = 0.0;
>       old_dec_due_rate = 0.0;
>       vrsi_ha_due_rate = 0.0;
>       vrsi_dec_due_rate = 0.0;
>       d_haoff_due_rate = 0.0;
>       d_decoff_due_rate = 0.0;
> 
2189d2286
<     printf("L1890\n");
2192d2288
<     printf("L1893\n");
2199a2296,2305
> 
>   }
> 
>   /* If rates have changed, then load them into the ACU. */
> 
>   if ((V_RA != vrsi_V_RA) || (V_DEC != vrsi_V_DEC)) {
>     vrsi_V_RA = V_RA;
>     vrsi_V_DEC = V_DEC;
>     sprintf(command, "ROFFS %f,%f", vrsi_V_RA*12960000.0*15.0,vrsi_V_DEC*12960000.0);
>     vrsi_tcpip(command, reply, 80, 1, "10.212.212.121", 5001);
2208d2313
<       printf("L1903\n");
2211d2315
<       printf("L1906\n");
2215d2318
<       printf("L1910\n");
2218d2320
<       printf("L1913\n");
2219a2322,2327
>       if ((V_RA != 0.0) || (V_DEC != 0.0)) {
>         vrsi_V_RA = V_RA;
>         vrsi_V_DEC = V_DEC;
>         sprintf(command, "ROFFS %f,%f", vrsi_V_RA*12960000.0*15.0,vrsi_V_DEC*12960000.0);
>         vrsi_tcpip(command, reply, 80, 1, "10.212.212.121", 5001);
>       }
2249d2356
<   printf("A1\n");
2264d2370
<     printf("A2\n");
2273,2275c2379
<     usleep((time_t) 1000000);
< 
<     sprintf(command, "STAR 1,%.5f,%.5f,J,%.3f,1,S,\"%s\"", \
---
>     sprintf(command, "STAR 1,%lf,%lf,J,%f,1,S,\"%s\"", \
2279d2382
<     usleep((time_t) 1000000);
2292c2395
<       sprintf(command, "ROFFS %.2f,%.2f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
---
>       sprintf(command, "ROFFS %f,%f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
2294d2396
<       printf("A3\n");
2305,2306d2406
<     printf("A4\n");
<     usleep((time_t) 5000000);
2307a2408
> 
2319d2419
<     printf("L1890\n");
2322d2421
<     printf("L1893\n");
2324d2422
<     printf("B5\n");
2337c2435
<       sprintf(command, "STAR 1,%.5f,%.5f,J,%.3f,1,S,\"%s\"", \
---
>       sprintf(command, "STAR 1,%lf,%lf,J,%f,1,S,\"%s\"", \
2341c2439
<       sprintf(command, "ROFFS %.2f,%.2f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
---
>       sprintf(command, "ROFFS %f,%f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
2343d2440
<       printf("B6\n");
2344a2442
> 
2346d2443
<     printf("B7\n");
2353d2449
<       printf("B8\n");
2355c2451,2459
<     usleep((time_t) 5000000);
---
>   }
> 
>   /* If rates have changed, then load them into the ACU. */
> 
>   if ((V_RA != vrsi_V_RA) || (V_DEC != vrsi_V_DEC)) {
>     vrsi_V_RA = V_RA;
>     vrsi_V_DEC = V_DEC;
>     sprintf(command, "ROFFS %f,%f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
>     vrsi_tcpip(command, reply, 80, 1, "10.212.212.121", 5001);
2363d2466
<     printf("C9\n");
2365d2467
<       printf("L1903\n");
2368d2469
<       printf("L1906\n");
2387c2488
<       sprintf(command, "STAR 1,%.5f,%.5f,J,%.3f,1,S,\"%s\"", \
---
>       sprintf(command, "STAR 1,%lf,%lf,J,%f,1,S,\"%s\"", \
2391,2393d2491
<       usleep((time_t) 15000000);
< 
<       printf("L1910\n");
2395,2397d2492
< 
<  /*      usleep((time_t) 3000000); */
< 
2399d2493
<       printf("L1913\n");
2401d2494
<       printf("C10\n");
2403c2496
<       sprintf(command, "ROFFS %.2f,%.2f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
---
>       sprintf(command, "ROFFS %f,%f", vrsi_V_RA*3600.0*-15.0,vrsi_V_DEC*3600.0);
2411d2503
<         printf("C11\n");
2418,2419d2509
<     printf("C12\n");
<     usleep((time_t) 5000000);
2474c2564
<     sprintf(command, "PD %.4f,%.4f", vrsi_DES_HA,vrsi_DES_DEC);
---
>     sprintf(command, "PD %lf,%lf", vrsi_DES_HA,vrsi_DES_DEC);
2520c2610
<       sprintf(command, "PD %.4f,%.4f", vrsi_DES_HA,vrsi_DES_DEC);
---
>       sprintf(command, "PD %lf,%lf", vrsi_DES_HA,vrsi_DES_DEC);
2556,2561d2645
< /*   savedHAoffset = OFFSET_HA;     /\* not projected to equator *\/ */
< /*   savedDECoffset = OFFSET_DEC; */
< 
< /*   OFFSET_HA = 0.0; */
< /*   OFFSET_DEC = 0.0; */
< 
2569d2652
< /*   usleep((time_t) 3000000); /\* This may not be necessary. *\/ */
2582,2588c2665,2667
< /*   OFFSET_HA = savedHAoffset;     /\* not projected to equator *\/ */
< /*   OFFSET_DEC = savedDECoffset; */
< 
< /*   sprintf(command, "OFFSET %.5f,%.5f", savedHAoffset/cos_dec, savedDECoffset); */
< /*   vrsi_tcpip(command, reply, 80, 1, "10.212.212.121", 5001); */
< 
<   /* Reapply shared memory offsets onto ACU : */
---
>   /* Reapply shared memory offsets onto ACU's Manual Offsets. */
>   /* ACU's Rate Offsets will be zeroed in the mode change; so */
>   /* preserve these for non-solar tracking */
2590c2669
<   usleep((time_t) 50000); /* Allow time for mode transition. */
---
>   usleep((time_t) 60000); /* Allow time for mode transition. */
2591a2671
>   /* 0.06 s is on the reliability threshold for ACU/PDU. */
2593c2673,2676
<   sprintf(command, "OFFSET %.5f,%.5f", (OFFSET_HA+COL_HA)/cos_dec, (OFFSET_DEC+COL_DEC));
---
> /*   sprintf(command, "OFFSET %lf,%lf", (OFFSET_HA+COL_HA)/cos_dec, (OFFSET_DEC+COL_DEC)); */
>   haoffsum += vrsi_ha_due_rate;
>   decoffsum += vrsi_dec_due_rate;
>   sprintf(command, "OFFSET %lf,%lf", haoffsum, decoffsum);
2594a2678,2689
>   old_haoffsum = haoffsum;
>   old_decoffsum = decoffsum;
> /*   V_RA = 0.0; */
> /*   V_DEC = 0.0; */
> /*   vrsi_harate = 0.0; */
> /*   vrsi_decrate = 0.0; */
>   old_ha_due_rate = 0.0;
>   old_dec_due_rate = 0.0;
>   vrsi_ha_due_rate = 0.0;
>   vrsi_dec_due_rate = 0.0;
>   d_haoff_due_rate = 0.0;
>   d_decoff_due_rate = 0.0;