 String test;
 boolean AOS = false;
 
-double deg2StepperCounts=64/5.6; // To move 1 deg on output shaft, command 64/5.6 stepper counts.
+double deg2StepperCounts = 64 / 5.6; // To move 1 deg on output shaft, command 64/5.6 stepper counts.
 
-double SGANT_El_deg = -180; // SGANT antenna elevation angle, deg; From telemetry stream
-double SGANT_xEl_deg = 180; // SGANT "cross elevation" angle, deg; From telemetry stream
-double SGANT_Elev_PosCountsTarget =0;// -1*SGANT_El_deg*deg2StepperCounts;
+double SGANT_El_deg = -30; // SGANT antenna elevation angle, deg; From telemetry stream
+double SGANT_xEl_deg = 30; // SGANT "cross elevation" angle, deg; From telemetry stream
+double SGANT_Elev_PosCountsTarget = 0; // -1*SGANT_El_deg*deg2StepperCounts;
 double SGANT_xElev_PosCountsTarget = 0;//-1*SGANT_xEl_deg*deg2StepperCounts;
 
-int PosErrCount1=0;
-int PosErrCount2=0;
+int PosErrCount1 = 0;
+int PosErrCount2 = 0;
 
 #include <AccelStepper.h>
 #define HALFSTEP 8

// Stepper library info: https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html

/*
Spec sheet notes: 
Speed Variation Ratio: 1/64
Stride Angle:   5.625° /64
*/

/*


// Notice, I'm passing them as StepA1, StepC1, StepB1, StepD1 (coil ends order) not
// StepA1, StepB1, StepC1, StepD1 (firing order).
//AccelStepper stepper1(HALFSTEP, StepA1, StepC1, StepB1, StepD1);
//AccelStepper stepper2(HALFSTEP, StepA2, StepC2, StepB2, StepD2);

AccelStepper stepper1(FULLSTEP, StepA1, StepC1, StepB1, StepD1);
AccelStepper stepper2(FULLSTEP, StepA2, StepC2, StepB2, StepD2);


void setup() {
  Serial.begin(9600);
  //Serial3.begin(115200);          //Serial1 is connected to the RasPi
  Serial.setTimeout(50);

  //  //Set the initial speed (read the AccelStepper docs on what "speed" means
  ////  stepper1.setSpeed(100.0);
  //  //Tell it how fast to accelerate
  stepper1.setAcceleration(100.0);
  //  //Set a maximum speed it should exceed
  stepper1.setMaxSpeed(4000.0);
  //  //Tell it to move to the target position
  //
  //
  //// Now for stepper2, for CrossElevation stepper
  stepper2.setAcceleration(100.0);
  stepper2.setSpeed(100.0);
  //  //Tell it how fast to accelerate
  //  stepper2.setAcceleration(100.0);
  //  //Set a maximum speed it should exceed
  stepper2.setMaxSpeed(4000.0);
  //  //Tell it to move to the target position

  //setPinsInverted (bool directionInvert=false, bool stepInvert=false, bool enableInvert=false)
  //stepper1.setPinsInverted(true,false,false); // Flips the sign, so our steppers move positive dir for pos cmd
  //stepper2.setPinsInverted(true,false,false); // Flips the sign, so our steppers move positive dir for pos cmd

}

void loop() {

  if (Serial.available())
  {
    checkSerial();
  }

SGANT_Elev_PosCountsTarget = -1 * SGANT_El_deg * deg2StepperCounts;
SGANT_xElev_PosCountsTarget = -1 * SGANT_xEl_deg * deg2StepperCounts;
stepper1.moveTo(SGANT_Elev_PosCountsTarget);
stepper2.moveTo(SGANT_xElev_PosCountsTarget);

stepper1.run();
stepper2.run();

delay(15);


////--------------------------------------------------------
//
Serial.print(SGANT_El_deg );
Serial.print(",");
Serial.print(stepper1.targetPosition() );
Serial.print(",");
Serial.print(stepper1.currentPosition());
Serial.print(",");
Serial.print(stepper1.speed() );
Serial.print("  |  ");

Serial.print(SGANT_xEl_deg );
Serial.print(",");
Serial.print(stepper2.targetPosition() );
Serial.print(",");
Serial.print(stepper2.currentPosition());
Serial.print(",");
Serial.print(stepper2.speed() );

Serial.println("");


}
