nxt

LibSidServo/sidservo.h

@@ -29,6 +29,7 @@ typedef enum{
     MCC_E_BADFORMAT,    // wrong arguments of function
     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_errcodes_t;
 
 typedef struct{
@@ -37,7 +38,7 @@ typedef struct{
     char*   EncoderDevPath;     // path to encoder device
     int     EncoderDevSpeed;    // serial speed
     int     SepEncoder;         // ==1 if encoder works as separate serial device
-    suseconds_t MountReqInterval;// interval between subsequent mount requests (microseconds)
+    double  MountReqInterval;   // maximal interval between subsequent mount requests (seconds)
     ;
 } conf_t;
 
@@ -65,7 +66,6 @@ typedef struct{
     coords_t motposition;
     coords_t encposition;
     coords_t lastmotposition;
-    coords_t motspeed;
     uint8_t keypad;
     extradata_t extradata;
     uint32_t millis;
@@ -75,9 +75,11 @@ typedef struct{
 
 // mount class
 typedef struct{
-    mcc_errcodes_t  (*init)(conf_t *c);
-    void            (*quit)();
-    mcc_errcodes_t  (*getMountData)(mountdata_t *d);
+    mcc_errcodes_t  (*init)(conf_t *c); // init device
+    void            (*quit)(); // deinit
+    mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
+    mcc_errcodes_t  (*moveTo)(double X, double Y); // move to given position ans stop
+    mcc_errcodes_t  (*emergStop)(); // emergency stop
 } mount_t;
 
 extern mount_t Mount;