eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

shit happens

Browse Source
This commit is contained in:
Edward V. Emelianov
2025-02-25 23:32:51 +03:00
parent f83f95c9cc
commit 5b89a968eb
17 changed files with 214 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
LibSidServo/ssii.h
View File

@@ -168,9 +168,7 @@
// steps per revolution
//#define X_MOT_STEPSPERREV (3325440.)
#define X_MOT_STEPSPERREV (3325952.)
//#define Y_MOT_STEPSPERREV (4394496.)
#define Y_MOT_STEPSPERREV (4394960.)
// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
@@ -178,27 +176,27 @@
#define Y_SPEED_MAX (0.13963)
// 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) ((int32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
#define Y_RAD2MOT(r) ((int32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
#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) ((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) ((int32_t)(X_RAD2MOT(r)*65536./1953.))
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/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.)
#define ADDER2S(a) ((a)*1953.)
#define S2ADDER(s) ((s)/1953.)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder position to radians and back
#define X_ENC2RAD(n) (2.*M_PI * (double)n / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (2.*M_PI * (double)n / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)(r / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)(r / 2./M_PI * Y_ENC_STEPSPERREV))
#define X_ENC2RAD(n) (2.*M_PI * ((double)n) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (2.*M_PI * ((double)n) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// encoder's tolerance (ticks)
#define YencTOL (25.)