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refactoring

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This commit is contained in:
Edward Emelianov
2025-07-23 00:01:33 +03:00
parent 89815e8981
commit 7634856967
23 changed files with 801 additions and 234 deletions
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46
Auxiliary_utils/LibSidServo/examples/dumpmoving_scmd.c
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@@ -49,7 +49,7 @@ static parameters G = {
static FILE *fcoords = NULL;
static coords_t M;
static coordval_pair_t M;
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
@@ -77,8 +77,8 @@ static void *dumping(void _U_ *u){
return NULL;
}
// return TRUE if motor position is reached +- 0.1 degrees
#define XYcount (DEG2RAD(0.1))
// return TRUE if motor position is reached +- 0.01 degrees
#define XYcount (DEG2RAD(0.01))
static int Wait(double tag){
mountdata_t mdata;
red("Wait for %g degrees\n", RAD2DEG(tag));
@@ -92,8 +92,8 @@ static int Wait(double tag){
errcnt = 0;
if(mdata.millis == millis) continue;
millis = mdata.millis;
if(*G.axis == 'X') curpos = mdata.motposition.X;
else curpos = mdata.motposition.Y;
if(*G.axis == 'X') curpos = mdata.motXposition.val;
else curpos = mdata.motYposition.val;
if(sign == 0.) sign = (curpos > tag) ? 1. : -1.;
//printf("%s=%g deg, need %g deg; delta=%g arcmin\n", G.axis, RAD2DEG(curpos),
// RAD2DEG(tag), RAD2DEG(sign*(curpos - tag))*60.);
@@ -104,27 +104,26 @@ static int Wait(double tag){
return FALSE;
}
green("%s reached position %g degrees\n", G.axis, RAD2DEG(tag));
fflush(stdout);
return TRUE;
}
// move X/Y to 40 degr with given speed until given coord
static void move(double target, double limit, double speed){
#define SCMD() do{if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command"); }while(0)
green("Move %s to %g until %g with %gdeg/s\n", G.axis, target, limit, speed);
short_command_t cmd = {0};
if(*G.axis == 'X' || *G.axis == 'B'){
cmd.Xmot = DEG2RAD(target) + M.X;
cmd.Xmot = DEG2RAD(target) + M.X.val;
cmd.Xspeed = DEG2RAD(speed);
limit = DEG2RAD(limit) + M.X;
limit = DEG2RAD(limit) + M.X.val;
}
if(*G.axis == 'Y' || *G.axis == 'B'){
cmd.Ymot = DEG2RAD(target) + M.Y;
cmd.Ymot = DEG2RAD(target) + M.Y.val;
cmd.Yspeed = DEG2RAD(speed);
limit = DEG2RAD(limit) + M.Y;
if(*G.axis != 'B') limit = DEG2RAD(limit) + M.Y.val;
}
SCMD();
if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command");
if(!Wait(limit)) signals(9);
#undef SCMD
}
@@ -160,21 +159,18 @@ int main(int argc, char **argv){
pthread_t dthr;
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
// goto 1 degr with 1'/s
move(10., 1., 1./60.);
// goto 2 degr with 2'/s
move(10., 2., 2./60.);
// goto 3 degr with 5'/s
move(10., 3., 5./60.);
// goto 4 degr with 10'/s
move(10., 4., 10./60.);
// and go back with 5deg/s
move(0., 0., 5.);
// be sure to move @ 0,0
Mount.moveTo(&M.X, &M.Y);
// goto 30' with 5'/s
move(10., 30./60., 5./60.);
// goto 1' with 10'/s
move(10., 1., 10./60.);
// goto 3degr with 15'/s
move(10., 3., 15./60.);
// and go back with 7deg/s
move(0., 0., 7.);
// be sure to move @ starting position
Mount.moveTo(&M.X.val, &M.Y.val);
// wait moving ends
pthread_join(dthr, NULL);
#undef SCMD
signals(0);
return 0;
}