eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

..

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
LibSidServo/ssii.h
View File

@@ -178,10 +178,6 @@
//#define Y_MOT_STEPSPERREV (4394960.)
#define Y_MOT_STEPSPERREV (4394667.)
// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
#define X_SPEED_MAX (0.17453)
#define Y_SPEED_MAX (0.13963)
// motor position to radians and back
#define X_MOT2RAD(n) (2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) (2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
@@ -206,11 +202,15 @@
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (46033555)
//#define X_ENC_ZERO (46033555)
#define X_ENC_ZERO (4603355)
#define Y_ENC_ZERO (36674010)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) (2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_ENC2RAD(n) (X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (Y_ENC_SIGN * 2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))