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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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12
LibSidServo/examples/dumpswing.c
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@@ -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