add new encoders' controller

LibSidServo/examples/conf.c

@@ -24,10 +24,12 @@
 static conf_t Config = {
     .MountDevPath = "/dev/ttyUSB0",
     .MountDevSpeed = 19200,
-    .EncoderDevPath = "/dev/ttyUSB1",
+    .EncoderXDevPath = "/dev/encoderX0",
+    .EncoderYDevPath = "/dev/encoderY0",
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
-    .SepEncoder = 1
+    .EncoderReqInterval = 0.05,
+    .SepEncoder = 2
 };
 
 static sl_option_t opts[] = {
@@ -36,7 +38,10 @@ static sl_option_t opts[] = {
     {"EncoderDevPath",  NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderDevPath),   "path to encoder device"},
     {"EncoderDevSpeed", NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.EncoderDevSpeed),  "serial speed of encoder device"},
     {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
-    {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device"},
+    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
+    {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
+    {"EncoderXDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderXDevPath),  "path to X encoder (/dev/encoderX0)"},
+    {"EncoderYDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderYDevPath),  "path to Y encoder (/dev/encoderY0)"},
     end_option
 };
 

LibSidServo/examples/dumpmoving_scmd.c

@@ -77,8 +77,8 @@ static void *dumping(void _U_ *u){
     return NULL;
 }
 
-// return TRUE if motor position is reached +- 0.1 degrees
-#define XYcount (DEG2RAD(0.1))
+// return TRUE if motor position is reached +- 0.01 degrees
+#define XYcount (DEG2RAD(0.01))
 static int Wait(double tag){
     mountdata_t mdata;
     red("Wait for %g degrees\n", RAD2DEG(tag));
@@ -104,6 +104,7 @@ static int Wait(double tag){
         return FALSE;
     }
     green("%s reached position %g degrees\n", G.axis, RAD2DEG(tag));
+    fflush(stdout);
     return TRUE;
 }
 
@@ -120,7 +121,7 @@ static void move(double target, double limit, double speed){
     if(*G.axis == 'Y' || *G.axis == 'B'){
         cmd.Ymot = DEG2RAD(target) + M.Y;
         cmd.Yspeed = DEG2RAD(speed);
-        limit = DEG2RAD(limit) + M.Y;
+        if(*G.axis != 'B') limit = DEG2RAD(limit) + M.Y;
     }
     SCMD();
     if(!Wait(limit)) signals(9);
@@ -160,16 +161,14 @@ int main(int argc, char **argv){
     pthread_t dthr;
     logmnt(fcoords, NULL);
     if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
-    // goto 1 degr with 1'/s
-    move(10., 1., 1./60.);
-    // goto 2 degr with 2'/s
-    move(10., 2., 2./60.);
-    // goto 3 degr with 5'/s
-    move(10., 3., 5./60.);
-    // goto 4 degr with 10'/s
-    move(10., 4., 10./60.);
-    // and go back with 5deg/s
-    move(0., 0., 5.);
+    // goto 30' with 5'/s
+    move(10., 30./60., 5./60.);
+    // goto 1' with 10'/s
+    move(10., 1., 10./60.);
+    // goto 3degr with 15'/s
+    move(10., 3., 15./60.);
+    // and go back with 7deg/s
+    move(0., 0., 7.);
     // be sure to move @ 0,0
     Mount.moveTo(&M.X, &M.Y);
     // wait moving ends

LibSidServo/examples/goto.c

@@ -103,15 +103,19 @@ int main(int _U_ argc, char _U_ **argv){
     printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
     if(isnan(G.X) && isnan(G.Y)) goto out;
     double *xtag = NULL, *ytag = NULL, xr, yr;
+    double _7deg = RAD2DEG(7.);
     if(!isnan(G.X)){
         xr = DEG2RAD(G.X);
         if(G.relative) xr += M.X;
         xtag = &xr;
+        // set max speed
+        Mount.setSpeed(&_7deg, NULL);
     }
     if(!isnan(G.Y)){
         yr = DEG2RAD(G.Y);
         if(G.relative) yr += M.Y;
         ytag = &yr;
+        Mount.setSpeed(NULL, &_7deg);
     }
     printf("Moving to ");
     if(xtag) printf("X=%gdeg ", G.X);

LibSidServo/examples/servo.conf

@@ -0,0 +1,8 @@
+MountDevPath=/dev/ttyUSB0
+MountDevSpeed=19200
+EncoderXDevPath=/dev/encoder_X0
+EncoderYDevPath=/dev/encoder_Y0
+MountReqInterval=0.05
+SepEncoder=2
+EncoderReqInterval=0.01
+EncoderDevSpeed=1000000