1st working approach after last changes

LibSidServo/.qtcreator/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-21T23:20:23. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/examples/conf.c

@@ -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];
+}

LibSidServo/examples/conf.h

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

LibSidServo/examples/goto.c

@@ -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;

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-21T23:20:23. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/main.c

@@ -229,7 +229,12 @@ static mcc_errcodes_t init(conf_t *c){
     // make a pause for actual encoder's values
     double t0 = timefromstart();
     while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
-    return updateMotorPos();
+    mcc_errcodes_t e = updateMotorPos();
+    // and refresh data after updating
+    DBG("Wait for next mount reading");
+    t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
+    return e;
 }
 
 // check coordinates (rad) and speeds (rad/s); return FALSE if failed
@@ -251,7 +256,7 @@ static int chkYs(double s){
     return TRUE;
 }
 
-// set SLEWING state if axis was stopped later
+// set SLEWING state if axis was stopped
 static void setslewingstate(){
     //FNAME();
     mountdata_t d;
@@ -283,10 +288,11 @@ static mcc_errcodes_t move2(const coordpair_t *target){
     cmd.Ymot = target->Y;
     cmd.Xspeed = Xlimits.max.speed;
     cmd.Yspeed = Ylimits.max.speed;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    /*mcc_errcodes_t r = shortcmd(&cmd);
     if(r != MCC_E_OK) return r;
     setslewingstate();
-    return MCC_E_OK;
+    return MCC_E_OK;*/
+    return shortcmd(&cmd);
 }
 
 /**
@@ -463,8 +469,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     // Copy ticks per revolution
     hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
     hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
-    hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
-    hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
+    hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
     // Convert slew rates (ticks per loop to rad/s)
     hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
     hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@@ -488,9 +494,9 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     DBG("SERIAL");
     // motor's encoder ticks per rev
     if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
-    Xticks = ((double) i64) / 4.; // divide by 4 as these values stored
+    Xticks = ((double) i64); // divide by 4 as these values stored ???
     if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
-    Yticks = ((double) i64) / 4.;
+    Yticks = ((double) i64);
     X_ENC_ZERO = Conf.XEncZero;
     Y_ENC_ZERO = Conf.YEncZero;
     DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
@@ -559,8 +565,8 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
     config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
     config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
     config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
-    config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
+    config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
-    config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
+    config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
     // todo - also write text params
     // TODO - next
     (void) config;

LibSidServo/serial.c

@@ -678,6 +678,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
             int g = write(mntfd, "\r", 1); // add EOL
             (void) g;
         }
+        usleep(50000); // add little pause so that the idiot has time to swallow
     }
     if(!in) return TRUE;
     in->len = 0;

LibSidServo/sidservo.h

@@ -48,6 +48,7 @@ typedef enum{
     MCC_E_ENCODERDEV,   // encoder device error or can't open
     MCC_E_MOUNTDEV,     // mount device error or can't open
     MCC_E_FAILED,       // failed to run command - protocol error
+    MCC_E_AMOUNT        // Just amount of errors
 } mcc_errcodes_t;
 
 typedef struct{