..

LibSidServo/examples/dump.c

@@ -184,8 +184,8 @@ void chk0(int ncycles){
     if(!getPos(&M, NULL)) signals(2);
     if(M.X.val || M.Y.val){
         WARNX("Mount position isn't @ zero; moving");
-        double zero = 0.;
-        Mount.moveTo(&zero, &zero);
+        coordpair_t zero = {0., 0.};
+        Mount.moveTo(&zero);
         waitmoving(ncycles);
         green("Now mount @ zero\n");
     }

LibSidServo/examples/dumpmoving.c

@@ -92,11 +92,12 @@ int main(int argc, char **argv){
     signal(SIGINT, signals);  // ctrl+C - quit
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-    double tagx = DEG2RAD(45.) + M.X.val, tagy = DEG2RAD(45.) + M.Y.val;
-    if(MCC_E_OK != Mount.moveTo(&tagx, &tagy))
+    coordpair_t tag = {.X = DEG2RAD(45.) + M.X.val, .Y = DEG2RAD(45.) + M.Y.val};
+    if(MCC_E_OK != Mount.moveTo(&tag))
         ERRX("Can't move to 45, 45");
     dumpmoving(fcoords, 30., G.Ncycles);
-    Mount.moveTo(&M.X.val, &M.Y.val);
+    tag.X = M.X.val; tag.Y = M.Y.val;
+    Mount.moveTo(&tag);
     dumpmoving(fcoords, 30., G.Ncycles);
     signals(0);
     return 0;

LibSidServo/examples/dumpmoving_scmd.c

@@ -168,7 +168,8 @@ int main(int argc, char **argv){
     // and go back with 7deg/s
     move(0., 0., 7.);
     // be sure to move @ starting position
-    Mount.moveTo(&M.X.val, &M.Y.val);
+    coordpair_t tag = {.X = M.X.val, .Y = M.Y.val};
+    Mount.moveTo(&tag);
     // wait moving ends
     pthread_join(dthr, NULL);
     signals(0);

LibSidServo/examples/dumpswing.c

@@ -146,24 +146,25 @@ int main(int argc, char **argv){
         tagX = 0.; tagY = DEG2RAD(G.amplitude);
     }
     double t = Mount.currentT(), t0 = t;
-    double divide = 2., rtagX = -tagX, rtagY = -tagY;
+    coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
+    double divide = 2.;
     for(int i = 0; i < G.Nswings; ++i){
-        Mount.moveTo(&tagX, &tagY);
+        Mount.moveTo(&tag);
         DBG("CMD: %g", Mount.currentT()-t0);
         t += G.period / divide;
         divide = 1.;
         waithalf(t);
         DBG("Moved to +, t=%g", t-t0);
         DBG("CMD: %g", Mount.currentT()-t0);
-        Mount.moveTo(&rtagX, &rtagY);
+        Mount.moveTo(&rtag);
         t += G.period;
         waithalf(t);
         DBG("Moved to -, t=%g", t-t0);
         DBG("CMD: %g", Mount.currentT()-t0);
     }
-    double zero = 0.;
+    tag = (coordpair_t){.X = 0., .Y = 0.};
     // be sure to move @ 0,0
-    Mount.moveTo(&zero, &zero);
+    Mount.moveTo(&tag);
     // wait moving ends
     pthread_join(dthr, NULL);
 #undef SCMD

LibSidServo/examples/goto.c

@@ -88,8 +88,8 @@ int main(int _U_ argc, char _U_ **argv){
         return 1;
     }
     if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
-    coordval_pair_t M;
-    if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    coordval_pair_t M, E;
+    if(!getPos(&M, &E)) ERRX("Can't get current position");
     if(G.coordsoutput){
         if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
         G.wait = 1;
@@ -100,28 +100,27 @@ int main(int _U_ argc, char _U_ **argv){
         logmnt(fcoords, NULL);
         if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
     }
-    printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
+    M.X.val = RAD2DEG(M.X.val);
+    M.Y.val = RAD2DEG(M.Y.val);
+    printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", M.X.val, M.Y.val,
+           RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
     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.val;
-        xtag = &xr;
-        // set max speed
-        Mount.setSpeed(&_7deg, NULL);
+    coordpair_t tag;
+    if(isnan(G.X)){
+        if(G.relative) G.X = 0.;
+        else G.X = M.X.val;
     }
-    if(!isnan(G.Y)){
-        yr = DEG2RAD(G.Y);
-        if(G.relative) yr += M.Y.val;
-        ytag = &yr;
-        Mount.setSpeed(NULL, &_7deg);
+    if(isnan(G.Y)){
+        if(G.relative) G.Y = 0.;
+        else G.Y = M.Y.val;
     }
-    printf("Moving to ");
-    if(xtag) printf("X=%gdeg ", G.X);
-    if(ytag) printf("Y=%gdeg", G.Y);
-    printf("\n");
-    Mount.moveTo(xtag, ytag);
+    if(G.relative){
+        G.X += M.X.val;
+        G.Y += M.Y.val;
+    }
+    printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
+    tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
+    Mount.moveTo(&tag);
     if(G.wait){
         sleep(1);
         waitmoving(G.Ncycles);