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start configurator

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This commit is contained in:
Edward Emelianov
2025-02-27 22:48:27 +03:00
parent 04c98ed557
commit e898642af9
19 changed files with 817 additions and 206 deletions
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19
Auxiliary_utils/LibSidServo/examples/dump.c
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@@ -36,8 +36,8 @@ void logmnt(FILE *fcoords, mountdata_t *m){
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
return;
}
if(t0 < 0.) t0 = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6;
double t = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6 - t0;
if(t0 < 0.) t0 = m->encposition.msrtime.tv_sec + (double)(m->encposition.msrtime.tv_usec) / 1e6;
double t = m->encposition.msrtime.tv_sec + (double)(m->encposition.msrtime.tv_usec) / 1e6 - t0;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
@@ -64,17 +64,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
WARNX("Can't get mount data");
LOGWARN("Can't get mount data");
}
uint32_t millis = mdata.millis;
uint32_t millis = mdata.encposition.msrtime.tv_usec;
int ctr = -1;
double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
double t0 = sl_dtime();
//DBG("millis = %u", millis);
while(sl_dtime() - t0 < t && ctr < N){
usleep(10000);
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
if(mdata.encposition.msrtime.tv_usec == millis) continue;
//DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
millis = mdata.millis;
millis = mdata.encposition.msrtime.tv_usec;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
xlast = mdata.motposition.X;
@@ -107,13 +107,13 @@ void waitmoving(int N){
}
/**
* @brief getMotPos - get current
* @brief getPos - get current position
* @param mot (o) - motor position (or NULL)
* @param Y (o) - encoder position (or NULL)
* @return FALSE if failed
*/
int getPos(coords_t *mot, coords_t *enc){
mountdata_t mdata;
mountdata_t mdata = {0};
int errcnt = 0;
do{
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
@@ -137,7 +137,8 @@ void chk0(int ncycles){
if(!getPos(&M, NULL)) signals(2);
if(M.X || M.Y){
WARNX("Mount position isn't @ zero; moving");
Mount.moveTo(0., 0.);
double zero = 0.;
Mount.moveTo(&zero, &zero);
waitmoving(ncycles);
green("Now mount @ zero\n");
}