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add speed + a lot of refactoring

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This commit is contained in:
Edward V. Emelianov
2025-07-22 23:52:08 +03:00
parent fc943abe03
commit b0421972d1
22 changed files with 513 additions and 161 deletions
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6
LibSidServo/examples/dumpmoving.c
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@@ -85,18 +85,18 @@ int main(int argc, char **argv){
LOGMSG("Mount device %s @ %d", Config->MountDevPath, Config->MountDevSpeed);
LOGMSG("Encoder device %s @ %d", Config->EncoderDevPath, Config->EncoderDevSpeed);
if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init devices");
coords_t M;
coordval_pair_t M;
if(!getPos(&M, NULL)) ERRX("Can't get current position");
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
double tagx = DEG2RAD(45.) + M.X, tagy = DEG2RAD(45.) + M.Y;
double tagx = DEG2RAD(45.) + M.X.val, tagy = DEG2RAD(45.) + M.Y.val;
if(MCC_E_OK != Mount.moveTo(&tagx, &tagy))
ERRX("Can't move to 45, 45");
dumpmoving(fcoords, 30., G.Ncycles);
Mount.moveTo(&M.X, &M.Y);
Mount.moveTo(&M.X.val, &M.Y.val);
dumpmoving(fcoords, 30., G.Ncycles);
signals(0);
return 0;