eddy/mountcontrol
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some fixes

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This commit is contained in:
Edward Emelianov
2025-12-01 17:28:18 +03:00
parent 9066b3f091
commit 6dde28e8d9
16 changed files with 167 additions and 187 deletions
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15
LibSidServo/examples/scmd_traectory.c
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@@ -44,6 +44,7 @@ typedef struct{
char *conffile;
} parameters;
static conf_t *Config = NULL;
static FILE *fcoords = NULL, *errlog = NULL;
static pthread_t dthr;
static parameters G = {
@@ -96,8 +97,7 @@ static void runtraectory(traectory_fn tfn){
if(!tfn) return;
coordval_pair_t telXY;
coordval_pair_t target;
coordpair_t traectXY, endpoint;
endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
coordpair_t traectXY;
double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
double tlastX = 0., tlastY = 0.;
while(1){
@@ -113,11 +113,6 @@ static void runtraectory(traectory_fn tfn){
if(!traectory_point(&traectXY, t)) break;
target.X.val = traectXY.X; target.Y.val = traectXY.Y;
target.X.t = target.Y.t = t;
// check whether we should change direction
if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
if(t0 < 0.) t0 = dumpt0();
else{
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
@@ -126,8 +121,8 @@ static void runtraectory(traectory_fn tfn){
if(errlog)
fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
}
if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < Config->PIDRefreshDt) usleep(500);
tlast = t;
}
WARNX("No next traectory point or emulation ends");
@@ -153,7 +148,7 @@ int main(int argc, char **argv){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
}else fcoords = stdout;
conf_t *Config = readServoConf(G.conffile);
Config = readServoConf(G.conffile);
if(!Config || G.dumpconf){
dumpConf();
return 1;