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This commit is contained in:
Timur A. Fatkhullin
2025-11-01 17:53:24 +03:00
parent 683da9739d
commit 3f108fcc13
5 changed files with 117 additions and 61 deletions
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12
asibfm700/asibfm700_mount.h
View File

@@ -46,14 +46,16 @@ protected:
struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
void exit(MccGenericFsmMountErrorEvent& event)
{
event.mount()->logWarn("The mount already in error state!");
}
// void exit(MccGenericFsmMountErrorEvent& event)
// {
// event.mount()->logWarn("The mount already in error state!");
// }
void enter(MccGenericFsmMountErrorEvent& event)
{
event.mount()->logWarn("The mount already in error state!");
// event.mount()->logWarn("The mount already in error state!");
auto err = event.eventData();
event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
}
void exit(mcc::fsm::traits::fsm_event_c auto& event)

2
asibfm700/asibfm700_servocontroller.cpp
View File

@@ -148,6 +148,8 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
} else {
state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
}
// WARNING: TEMPORARY (WAIT FOR Eddy fix its implementation of LibSidServo)!!!
state->time_point = decltype(state->time_point)::clock::now();
// according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
state->X = mdata.encYposition.val;