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less squares 4 speed + fixed some bugs (but found more)

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This commit is contained in:
Edward V. Emelianov
2025-07-31 17:03:15 +03:00
parent ca9dcdfa68
commit 9fbd858086
15 changed files with 428 additions and 234 deletions
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1
LibSidServo/examples/conf.c
View File

@@ -44,6 +44,7 @@ static sl_option_t opts[] = {
{"EncoderXDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderXDevPath), "path to X encoder (/dev/encoderX0)"},
{"EncoderYDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderYDevPath), "path to Y encoder (/dev/encoderY0)"},
{"EncoderSpeedInterval", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
{"RunModel", NEED_ARG, NULL, 0, arg_int, APTR(&Config.RunModel), "instead of real hardware run emulation"},
end_option
};

3
LibSidServo/examples/dump.c
View File

@@ -115,7 +115,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
enct = tmsr;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.millis == mdmillis) continue;
//DBG("ctr=%d", ctr);
//DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
mdmillis = mdata.millis;
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
xlast = mdata.motXposition.val;
@@ -123,6 +123,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
ctr = 0;
}else ++ctr;
}
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
}
/**

26
LibSidServo/examples/dumpmoving_dragNtrack.c
View File

@@ -120,16 +120,13 @@ static coordpair_t lastTag = {0}, lastSpeed = {0};
// slew to given position and start tracking
// pos/speed in deg and deg/s
static mcc_errcodes_t gotos(coordpair_t *target, coordpair_t *speed){
static mcc_errcodes_t gotos(const coordpair_t *target, const coordpair_t *speed){
short_command_t cmd = {0};
DBG("Try to move to (%g, %g) with speed (%g, %g)",
target->X, target->Y, speed->X, speed->Y);
target->X = DEG2RAD(target->X);
target->Y = DEG2RAD(target->Y);
speed->X = DEG2RAD(speed->X);
speed->Y = DEG2RAD(speed->Y);
cmd.Xmot = target->X; cmd.Ymot = target->Y;
cmd.Xspeed = speed->X; cmd.Yspeed = speed->Y;
cmd.Xmot = DEG2RAD(target->X); cmd.Ymot = DEG2RAD(target->Y);
cmd.Xspeed = DEG2RAD(speed->X);
cmd.Yspeed = DEG2RAD(speed->Y);
lastTag = *target;
lastSpeed = *speed;
/*cmd.xychange = 1;
@@ -142,7 +139,8 @@ static mcc_errcodes_t return2zero(){
short_command_t cmd = {0};
DBG("Try to move to zero");
cmd.Xmot = 0.; cmd.Ymot = 0.;
cmd.Xspeed = DEG2RAD(10.); cmd.Yspeed = DEG2RAD(10.);
cmd.Xspeed = MCC_MAX_X_SPEED;
cmd.Yspeed = MCC_MAX_Y_SPEED;
/*cmd.xychange = 1;
cmd.XBits = 100;
cmd.YBits = 20;*/
@@ -151,11 +149,11 @@ static mcc_errcodes_t return2zero(){
static mcc_errcodes_t mkcorr(coordpair_t *adder, coordpair_t *time){
long_command_t cmd = {0};
cmd.Xspeed = lastSpeed.X;
cmd.Yspeed = lastSpeed.Y;
cmd.Xmot = lastTag.X;
cmd.Ymot = lastTag.Y;
cmd.Xadder = adder->X; cmd.Yadder = adder->Y;
cmd.Xspeed = DEG2RAD(lastSpeed.X);
cmd.Yspeed = DEG2RAD(lastSpeed.Y);
cmd.Xmot = DEG2RAD(lastTag.X);
cmd.Ymot = DEG2RAD(lastTag.Y);
cmd.Xadder = DEG2RAD(adder->X); cmd.Yadder = DEG2RAD(adder->Y);
cmd.Xatime = time->X; cmd.Yatime = time->Y;
return Mount.longCmd(&cmd);
}
@@ -218,7 +216,7 @@ int main(int argc, char **argv){
sleep(5);
// return to zero and wait
green("Return 2 zero and wait\n");
return2zero();
if(!return2zero()) ERRX("Can't return");
Wait(0., 0);
Wait(0., 1);
// wait moving ends

12
LibSidServo/examples/dumpswing.c
View File

@@ -89,12 +89,12 @@ void waithalf(double t){
if(mdata.millis == millis) continue;
millis = mdata.millis;
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
//DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
xlast = mdata.motXposition.val;
ylast = mdata.motYposition.val;
ctr = 0;
}else{
DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
//DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
++ctr;
}
}
@@ -162,9 +162,13 @@ int main(int argc, char **argv){
DBG("Moved to -, t=%g", t-t0);
DBG("CMD: %g", Mount.currentT()-t0);
}
tag = (coordpair_t){.X = 0., .Y = 0.};
green("Move to zero @ %g\n", Mount.currentT());
tag = (coordpair_t){0};
// be sure to move @ 0,0
Mount.moveTo(&tag);
if(MCC_E_OK != Mount.moveTo(&tag)){
Mount.emergStop();
Mount.moveTo(&tag);
}
// wait moving ends
pthread_join(dthr, NULL);
#undef SCMD