Indeed? The moving model works???

LibSidServo/examples/scmd_traectory.c

@@ -30,6 +30,7 @@
 
 typedef struct{
     int help;
+    int dumpconf;
     int Ncycles;        // n cycles to wait stop
     double reqint;      // requests interval (seconds)
     double Xmax;        // maximal X to stop
@@ -69,6 +70,7 @@ static sl_option_t cmdlnopts[] = {
     {"y0",          NEED_ARG,   NULL,   '1',    arg_double, APTR(&G.Y0),        "starting Y-coordinate of traectory (default: 10 degrees)"},
     {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
     {"errlog",      NEED_ARG,   NULL,   'e',    arg_string, APTR(&G.errlog),    "file with errors log"},
+    {"dumpconf",    NO_ARGS,    NULL,   'D',    arg_int,    APTR(&G.dumpconf),  "dump current configuration"},
     end_option
 };
 
@@ -150,7 +152,7 @@ int main(int argc, char **argv){
             ERRX("Can't open %s", G.coordsoutput);
     }else fcoords = stdout;
     conf_t *Config = readServoConf(G.conffile);
-    if(!Config){
+    if(!Config || G.dumpconf){
         dumpConf();
         return 1;
     }

LibSidServo/examples/servo.conf

@@ -1,9 +1,25 @@
+Current configuration:
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
+EncoderDevPath=(null)
+EncoderDevSpeed=1000000
+MountReqInterval=0.1
+EncoderReqInterval=0.001
+SepEncoder=2
 EncoderXDevPath=/dev/encoder_X0
 EncoderYDevPath=/dev/encoder_Y0
-MountReqInterval=0.05
-SepEncoder=2
-EncoderReqInterval=0.001
-EncoderDevSpeed=1000000
 EncoderSpeedInterval=0.05
+RunModel=1
+XPIDCP=0.8
+XPIDCI=0.0
+XPIDCD=0.0
+YPIDCP=0.5
+YPIDCI=0.0
+YPIDCD=0.0
+XPIDVP=0.2
+XPIDVI=0.1
+XPIDVD=0.0
+YPIDVP=0.2
+YPIDVI=0.1
+YPIDVD=0.0
+