LibSidServo: fix velocity calculation errors in real mode

2026-03-11 14:06:58 +03:00
parent b44e695e1c
commit a35b62d21d
4 changed files with 151 additions and 74 deletions
--- a/LibSidServo/ssii.c
+++ b/LibSidServo/ssii.c
@@ -26,8 +26,12 @@
 #include "serial.h"
 #include "ssii.h"

-int X_ENC_ZERO, Y_ENC_ZERO;
-double X_MOT_STEPSPERREV = 1., Y_MOT_STEPSPERREV = 1., X_ENC_STEPSPERREV = 1., Y_ENC_STEPSPERREV = 1.;
+int X_ENC_ZERO = 0, Y_ENC_ZERO = 0;
+// defaults until read from controller
+double  X_MOT_STEPSPERREV = 13312000.,
+        Y_MOT_STEPSPERREV = 17578668.,
+        X_ENC_STEPSPERREV = 67108864.,
+        Y_ENC_STEPSPERREV = 67108864.;

 uint16_t SScalcChecksum(uint8_t *buf, int len){
    uint16_t checksum = 0;