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shortcmd checked

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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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6
LibSidServo/main.c
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@@ -101,6 +101,7 @@ static mcc_errcodes_t emstop(){
static mcc_errcodes_t shortcmd(short_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
SSscmd s = {0};
DBG("xmot=%g, ymot=%g", cmd->Xmot, cmd->Ymot);
s.Xmot = X_RAD2MOT(cmd->Xmot);
s.Ymot = Y_RAD2MOT(cmd->Ymot);
s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
@@ -108,7 +109,8 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
s.xychange = cmd->xychange;
s.XBits = cmd->XBits;
s.YBits = cmd->YBits;
if(SScmdS(&s)) return MCC_E_FAILED;
DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
if(!cmdS(&s)) return MCC_E_FAILED;
cmd->Xmot = X_MOT2RAD(s.Xmot);
cmd->Ymot = Y_MOT2RAD(s.Ymot);
cmd->Xspeed = X_MOTSPD2RS(s.Xspeed);
@@ -135,7 +137,7 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
l.Yadder = Y_RS2MOTSPD(cmd->Yadder);
l.Xatime = S2ADDER(cmd->Xatime);
l.Yatime = S2ADDER(cmd->Yatime);
if(SScmdL(&l)) return MCC_E_FAILED;
if(!cmdL(&l)) return MCC_E_FAILED;
cmd->Xmot = X_MOT2RAD(l.Xmot);
cmd->Ymot = Y_MOT2RAD(l.Ymot);
cmd->Xspeed = X_MOTSPD2RS(l.Xspeed);