...

LibSidServo/examples/goto.c

@@ -31,6 +31,7 @@ typedef struct{
     int help;
     int Ncycles;
     int wait;
+    int relative;
     char *coordsoutput;
     double X;
     double Y;
@@ -49,6 +50,7 @@ static sl_option_t cmdlnopts[] = {
     {"newy",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Y),         "new Y coordinate"},
     {"output",      NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
     {"wait",        NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      "wait until mowing stopped"},
+    {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
     end_option
 };
 
@@ -100,10 +102,22 @@ int main(int _U_ argc, char _U_ **argv){
     }
     printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
     if(isnan(G.X) && isnan(G.Y)) goto out;
-    if(isnan(G.X)) G.X = RAD2DEG(M.X);
-    if(isnan(G.Y)) G.Y = RAD2DEG(M.Y);
-    printf("Moving to X=%g deg, Y=%g deg\n", G.X, G.Y);
-    Mount.moveTo(DEG2RAD(G.X), DEG2RAD(G.Y));
+    double *xtag = NULL, *ytag = NULL, xr, yr;
+    if(!isnan(G.X)){
+        xr = DEG2RAD(G.X);
+        if(G.relative) xr += M.X;
+        xtag = &xr;
+    }
+    if(!isnan(G.Y)){
+        yr = DEG2RAD(G.Y);
+        if(G.relative) yr += M.Y;
+        ytag = &yr;
+    }
+    printf("Moving to ");
+    if(xtag) printf("X=%gdeg ", G.X);
+    if(ytag) printf("Y=%gdeg", G.Y);
+    printf("\n");
+    Mount.moveTo(xtag, ytag);
     if(G.wait){
         sleep(1);
         waitmoving(G.Ncycles);