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This commit is contained in:
Edward Emelianov
2025-08-04 09:02:22 +03:00
parent 25438960e6
commit 219cec6055
5 changed files with 88 additions and 36 deletions
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28
LibSidServo/ssii.c
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@@ -189,16 +189,24 @@ mcc_errcodes_t updateMotorPos(){
continue;
}
DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
if(fabs(md.encXposition.t - t) < 0.1 && fabs(md.encYposition.t - t) < 0.1){
DBG("FIX motors position to encoders");
int32_t Xpos = X_RAD2MOT(md.encXposition.val), Ypos = Y_RAD2MOT(md.encYposition.val);
if(SSsetterI(CMD_MOTXSET, Xpos) && SSsetterI(CMD_MOTYSET, Ypos)){
DBG("All OK, Dt=%g", nanotime() - t0);
return MCC_E_OK;
}
}else{
DBG("on position");
return MCC_E_OK;
mcc_errcodes_t OK = MCC_E_OK;
if(fabs(md.motXposition.val - md.encXposition.val) > MCC_ENCODERS_ERROR && md.Xstatus == MNT_STOPPED){
DBG("NEED to sync X: motors=%g, axes=%g", md.motXposition.val, md.encXposition.val);
if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
DBG("Xpos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
}
if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstatus == MNT_STOPPED){
DBG("NEED to sync Y: motors=%g, axes=%g", md.motYposition.val, md.encYposition.val);
if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
DBG("Ypos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
}
if(MCC_E_OK == OK){
DBG("Encoders synced");
return OK;
}
}
DBG("NO DATA; dt = %g", t - t0);