start traectories

2025-02-18 22:15:51 +03:00
parent 828523c7e1
commit f8060cfa40
11 changed files with 382 additions and 21 deletions
--- a/LibSidServo/examples/dump.c
+++ b/LibSidServo/examples/dump.c
@@ -129,3 +129,15 @@ int getPos(coords_t *mot, coords_t *enc){
    if(enc) *enc = mdata.encposition;
    return TRUE;
 }
+
+// check current position and go to 0 if non-zero
+void chk0(int ncycles){
+    coords_t M;
+    if(!getPos(&M, NULL)) signals(2);
+    if(M.X || M.Y){
+        WARNX("Mount position isn't @ zero; moving");
+        Mount.moveTo(0., 0.);
+        waitmoving(ncycles);
+        green("Now mount @ zero\n");
+    }
+}