add speed + a lot of refactoring

LibSidServo/examples/conf.c

@@ -29,7 +29,8 @@ static conf_t Config = {
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
     .EncoderReqInterval = 0.05,
-    .SepEncoder = 2
+    .SepEncoder = 2,
+    .EncoderSpeedInterval = 0.1,
 };
 
 static sl_option_t opts[] = {
@@ -42,6 +43,7 @@ static sl_option_t opts[] = {
     {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
     {"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"},
     end_option
 };