add new encoders' controller

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