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This commit is contained in:
Edward V. Emelianov
2025-07-24 15:31:40 +03:00
parent 133863e47f
commit 8f36f89d7a
10 changed files with 102 additions and 87 deletions
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11
LibSidServo/examples/dumpswing.c
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@@ -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