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This commit is contained in:
Timur A. Fatkhullin
2025-10-31 17:40:33 +03:00
parent d69ea51b0c
commit 8a202bd38c
6 changed files with 33 additions and 9 deletions
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6
asibfm700/asibfm700_servocontroller.cpp
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@@ -143,7 +143,11 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
using secs_t = std::chrono::duration<double>;
secs_t secs = secs_t{mdata.encXposition.t};
state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
if (mcc::utils::isEqual(secs.count(), 0.0)) { // model mode?
state->time_point = decltype(state->time_point)::clock::now();
} else {
state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
}
// according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
state->X = mdata.encYposition.val;