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add dumpswing, fix bug with uint32 instead of int32

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This commit is contained in:
Edward V. Emelianov
2025-02-19 23:07:26 +03:00
parent 1195393fa8
commit 357a0d7e19
10 changed files with 207 additions and 23 deletions
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15
LibSidServo/examples/traectories.c
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@@ -26,7 +26,7 @@
#include "simpleconv.h"
#include "traectories.h"
static traectory_fn *cur_traectory = NULL;
static traectory_fn cur_traectory = NULL;
// starting point of traectory
static coords_t XYstart = {0};
static double tstart = 0.;
@@ -41,11 +41,11 @@ static coords_t XYcor = {0};
* @param XY0 - starting point
* @return FALSE if failed
*/
int init_traectory(traectory_fn *f, coords_t *XY0){
int init_traectory(traectory_fn f, coords_t *XY0){
if(!f || !XY0) return FALSE;
cur_traectory = f;
XYstart = *XY0;
tstart = cl_dtime();
tstart = sl_dtime();
mountdata_t mdata;
int ntries = 0;
for(; ntries < 10; ++ntries){
@@ -71,7 +71,7 @@ int traectory_point(coords_t *nextpt, double t){
pt.msrtime.tv_sec = floor(t);
pt.msrtime.tv_usec = (uint32_t) t - pt.msrtime.tv_sec;
if(nextpt) *nextpt = pt;
if(pt.X < -M_PI2 || pt.X > M_PI2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
return TRUE;
}
@@ -111,7 +111,7 @@ int SinCos(coords_t *nextpt, double t){
}
typedef struct{
traectory_fn *f;
traectory_fn f;
const char *name;
const char *help;
} tr_names;
@@ -122,8 +122,8 @@ static tr_names names[] = {
{NULL, NULL, NULL}
};
traectory_fn *traectory_by_name(const char *name){
traectory_fn *f = NULL;
traectory_fn traectory_by_name(const char *name){
traectory_fn f = NULL;
for(int i = 0; ; ++i){
if(!names[i].f) break;
if(strcmp(names[i].name, name) == 0){
@@ -131,6 +131,7 @@ traectory_fn *traectory_by_name(const char *name){
break;
}
}
return f;
}
// print all acceptable traectories names with help