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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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8
LibSidServo/ssii.h
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@@ -90,13 +90,13 @@
// motor position to radians and back
#define X_MOT2RAD(n) (2.*M_PI * (double)n / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) (2.*M_PI * (double)n / Y_MOT_STEPSPERREV)
#define X_RAD2MOT(r) ((uint32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
#define Y_RAD2MOT(r) ((uint32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
#define X_RAD2MOT(r) ((int32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
#define Y_RAD2MOT(r) ((int32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
// motor speed in rad/s and back
#define X_MOTSPD2RS(n) (X_MOT2RAD(n)/65536.*1953.)
#define X_RS2MOTSPD(r) ((uint32_t)(X_RAD2MOT(r)*65536./1953.))
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r)*65536./1953.))
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/65536.*1953.)
#define Y_RS2MOTSPD(r) ((uint32_t)(Y_RAD2MOT(r)*65536./1953.))
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
// adder time to seconds vice versa
#define ADDER2S(a) (a*1953.)
#define S2ADDER(s) (s/1953.)