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1st working approach after last changes

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This commit is contained in:
Edward V. Emelianov
2026-01-22 21:18:01 +03:00
parent 873f292a11
commit bccc7a9b29
8 changed files with 43 additions and 14 deletions
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14
LibSidServo/examples/conf.c
View File

@@ -112,3 +112,17 @@ void dumpConf(){
void confHelp(){
sl_conf_showhelp(-1, opts);
}
const char* errcodes[MCC_E_AMOUNT] = {
[MCC_E_OK] = "OK",
[MCC_E_FATAL] = "Fatal error",
[MCC_E_BADFORMAT] = "Wrong data format",
[MCC_E_ENCODERDEV] = "Encoder error",
[MCC_E_MOUNTDEV] = "Mount error",
[MCC_E_FAILED] = "Failed to run"
};
// return string with error code
const char *EcodeStr(mcc_errcodes_t e){
if(e >= MCC_E_AMOUNT) return "Wrong error code";
return errcodes[e];
}

1
LibSidServo/examples/conf.h
View File

@@ -25,3 +25,4 @@
void confHelp();
conf_t *readServoConf(const char *filename);
void dumpConf();
const char *EcodeStr(mcc_errcodes_t e);

10
LibSidServo/examples/goto.c
View File

@@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
}
printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
Mount.moveTo(&tag);
mcc_errcodes_t e = Mount.moveTo(&tag);
if(MCC_E_OK != e){
WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
goto out;
}
if(G.wait){
sleep(1);
waitmoving(G.Ncycles);
@@ -132,7 +136,9 @@ out:
if(G.coordsoutput) pthread_join(dthr, NULL);
DBG("QUIT");
if(G.wait){
if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
usleep(250000); // pause to refresh coordinates
if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
Mount.quit();
}
return 0;