eddy/mountcontrol
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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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41
LibSidServo/examples/goto.c
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@@ -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);