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SSII - is a really piece of shit!

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This commit is contained in:
Edward Emelianov
2025-07-23 22:55:23 +03:00
parent 7634856967
commit e1f0a0804f
8 changed files with 119 additions and 69 deletions
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15
Auxiliary_utils/LibSidServo/main.c
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@@ -202,13 +202,6 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
s.YBits = cmd->YBits;
DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
if(!cmdS(&s)) return MCC_E_FAILED;
cmd->Xmot = X_MOT2RAD(s.Xmot);
cmd->Ymot = Y_MOT2RAD(s.Ymot);
cmd->Xspeed = X_MOTSPD2RS(s.Xspeed);
cmd->Yspeed = Y_MOTSPD2RS(s.Yspeed);
cmd->xychange = s.xychange;
cmd->XBits = s.XBits;
cmd->YBits = s.YBits;
return MCC_E_OK;
}
@@ -229,14 +222,6 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
l.Xatime = S2ADDER(cmd->Xatime);
l.Yatime = S2ADDER(cmd->Yatime);
if(!cmdL(&l)) return MCC_E_FAILED;
cmd->Xmot = X_MOT2RAD(l.Xmot);
cmd->Ymot = Y_MOT2RAD(l.Ymot);
cmd->Xspeed = X_MOTSPD2RS(l.Xspeed);
cmd->Yspeed = Y_MOTSPD2RS(l.Yspeed);
cmd->Xadder = X_MOTSPD2RS(l.Xadder);
cmd->Yadder = Y_MOTSPD2RS(l.Yadder);
cmd->Xatime = ADDER2S(l.Xatime);
cmd->Yatime = ADDER2S(l.Yatime);
return MCC_E_OK;
}