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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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20
Auxiliary_utils/LibSidServo/examples/dumpswing.c
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@@ -83,18 +83,18 @@ void waithalf(double t){
uint32_t millis = 0;
double xlast = 0., ylast = 0.;
while(ctr < 5){
if(sl_dtime() >= t) return;
if(Mount.currentT() >= t) return;
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
millis = mdata.millis;
if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
xlast = mdata.motposition.X;
ylast = mdata.motposition.Y;
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
xlast = mdata.motXposition.val;
ylast = mdata.motYposition.val;
ctr = 0;
}else{
DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
++ctr;
}
}
@@ -145,21 +145,21 @@ int main(int argc, char **argv){
}else{
tagX = 0.; tagY = DEG2RAD(G.amplitude);
}
double t = sl_dtime(), t0 = t;
double t = Mount.currentT(), t0 = t;
double divide = 2., rtagX = -tagX, rtagY = -tagY;
for(int i = 0; i < G.Nswings; ++i){
Mount.moveTo(&tagX, &tagY);
DBG("CMD: %g", sl_dtime()-t0);
DBG("CMD: %g", Mount.currentT()-t0);
t += G.period / divide;
divide = 1.;
waithalf(t);
DBG("Moved to +, t=%g", t-t0);
DBG("CMD: %g", sl_dtime()-t0);
DBG("CMD: %g", Mount.currentT()-t0);
Mount.moveTo(&rtagX, &rtagY);
t += G.period;
waithalf(t);
DBG("Moved to -, t=%g", t-t0);
DBG("CMD: %g", sl_dtime()-t0);
DBG("CMD: %g", Mount.currentT()-t0);
}
double zero = 0.;
// be sure to move @ 0,0