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Timur A. Fatkhullin
2026-02-26 18:28:47 +03:00
parent 23b8b0eb9d
commit 5c8d9bd5f4
3 changed files with 80 additions and 23 deletions
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10
LibSidServo/main.c
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@@ -47,10 +47,10 @@ static movemodel_t *Xmodel, *Ymodel;
// accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
limits_t
Xlimits = {
.min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
.min = {.coord = -3.1241, .speed = -1e-10, .accel = 1e-6},
.max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
Ylimits = {
.min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
.min = {.coord = -3.1241, .speed = -1e-10, .accel = 1e-6},
.max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
;
static mcc_errcodes_t shortcmd(short_command_t *cmd);
@@ -93,7 +93,7 @@ static int initstarttime(){
// return difference (in seconds) between time1 and time0
double timediff(const struct timespec *time1, const struct timespec *time0){
if(!time1 || !time0) return -1.;
return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
return (double)(time1->tv_sec - time0->tv_sec) + (double)(time1->tv_nsec - time0->tv_nsec) / 1e9;
}
// difference between given time and last initstarttime() call
double timediff0(const struct timespec *time1){
@@ -319,8 +319,8 @@ static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
*/
static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed){
if(!target || !speed) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
// if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
// if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
// updateMotorPos() here can make a problem; TODO: remove?
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};