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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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28
Auxiliary_utils/LibSidServo/examples/dumpswing.c
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@@ -22,6 +22,7 @@
#include <string.h>
#include <usefull_macros.h>
#include "conf.h"
#include "dump.h"
#include "sidservo.h"
#include "simpleconv.h"
@@ -35,6 +36,7 @@ typedef struct{
double period;
double amplitude;
char *coordsoutput;
char *conffile;
char *axis;
} parameters;
@@ -55,6 +57,7 @@ static sl_option_t cmdlnopts[] = {
{"period", NEED_ARG, NULL, 'p', arg_double, APTR(&G.period), "swinging period (could be not reached if amplitude is too small) - not more than 900s (default: 1)"},
{"amplitude", NEED_ARG, NULL, 'A', arg_double, APTR(&G.amplitude), "max amplitude (could be not reaced if period is too small) - not more than 45deg (default: 5)"},
{"nswings", NEED_ARG, NULL, 'N', arg_int, APTR(&G.Nswings), "amount of swing periods (default: 10)"},
{"conffile", NEED_ARG, NULL, 'C', arg_int, APTR(&G.conffile), "configuration file name"},
end_option
};
@@ -67,15 +70,6 @@ void signals(int sig){
exit(sig);
}
static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200,
//.EncoderDevPath = "/dev/ttyUSB1",
//.EncoderDevSpeed = 153000,
.MountReqInterval = 0.05,
.SepEncoder = 0
};
// dump thread
static void *dumping(void _U_ *u){
dumpmoving(fcoords, 3600., G.Ncycles);
@@ -125,7 +119,12 @@ int main(int argc, char **argv){
if(G.period < 0.1 || G.period > 900.)
ERRX("Period should be from 0.1 to 900s");
if(G.Nswings < 1) ERRX("Nswings should be more than 0");
mcc_errcodes_t e = Mount.init(&Config);
conf_t *Config = readServoConf(G.conffile);
if(!Config){
dumpConf();
return 1;
}
mcc_errcodes_t e = Mount.init(Config);
if(e != MCC_E_OK){
WARNX("Can't init devices");
return 1;
@@ -147,23 +146,24 @@ int main(int argc, char **argv){
tagX = 0.; tagY = DEG2RAD(G.amplitude);
}
double t = sl_dtime(), t0 = t;
double divide = 2.;
double divide = 2., rtagX = -tagX, rtagY = -tagY;
for(int i = 0; i < G.Nswings; ++i){
Mount.moveTo(tagX, tagY);
Mount.moveTo(&tagX, &tagY);
DBG("CMD: %g", sl_dtime()-t0);
t += G.period / divide;
divide = 1.;
waithalf(t);
DBG("Moved to +, t=%g", t-t0);
DBG("CMD: %g", sl_dtime()-t0);
Mount.moveTo(-tagX, -tagY);
Mount.moveTo(&rtagX, &rtagY);
t += G.period;
waithalf(t);
DBG("Moved to -, t=%g", t-t0);
DBG("CMD: %g", sl_dtime()-t0);
}
double zero = 0.;
// be sure to move @ 0,0
Mount.moveTo(0., 0.);
Mount.moveTo(&zero, &zero);
// wait moving ends
pthread_join(dthr, NULL);
#undef SCMD