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fixed time

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This commit is contained in:
Edward Emelianov
2025-11-01 15:02:11 +03:00
parent 27a7388164
commit f6edc12b01
18 changed files with 139 additions and 76 deletions
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16
Auxiliary_utils/LibSidServo/examples/dump.c
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@@ -23,6 +23,9 @@
#include "dump.h"
#include "simpleconv.h"
// starting dump time (to conform different logs)
static double dumpT0 = -1.;
#if 0
// amount of elements used for encoders' data filtering
#define NFILT (10)
@@ -59,6 +62,10 @@ static double filter(double val, int idx){
}
#endif
// return starting time of dump
double dumpt0(){ return dumpT0; }
/**
* @brief logmnt - log mount data into file
* @param fcoords - file to dump
@@ -67,17 +74,13 @@ static double filter(double val, int idx){
void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
static double t0 = -1.;
if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
return;
}
double tnow = (m->encXposition.t + m->encYposition.t) / 2.;
if(t0 < 0.) t0 = tnow;
double t = tnow - t0;
}else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
m->encXposition.t - dumpT0, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
m->millis);
@@ -143,6 +146,7 @@ void waitmoving(int N){
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
xlast = mdata.motXposition.val;
ylast = mdata.motYposition.val;
//DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
ctr = 0;
}else ++ctr;
}