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This commit is contained in:
Edward V. Emelianov
2025-02-16 21:59:08 +03:00
parent 53b18299dc
commit 5250aa185d
13 changed files with 281 additions and 94 deletions
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32
LibSidServo/examples/dump.c
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@@ -29,10 +29,9 @@
* @param m - mount data
*/
void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords || !m) return;
DBG("LOG");
static double t0 = -1.;
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
static double t0 = -1.;
if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
return;
@@ -73,7 +72,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
usleep(10000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
//DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
millis = mdata.millis;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
@@ -104,3 +103,28 @@ void waitmoving(int N){
}else ++ctr;
}
}
/**
* @brief getMotPos - get current
* @param mot (o) - motor position (or NULL)
* @param Y (o) - encoder position (or NULL)
* @return FALSE if failed
*/
int getPos(coords_t *mot, coords_t *enc){
mountdata_t mdata;
int errcnt = 0;
do{
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
else{
errcnt = 0;
if(mdata.millis) break;
}
}while(errcnt < 10);
if(errcnt >= 10){
WARNX("Can't read mount status");
return FALSE;
}
if(mot) *mot = mdata.motposition;
if(enc) *enc = mdata.encposition;
return TRUE;
}