need wait steps for motor control.

detect.h

@@ -54,10 +54,12 @@ enum {
 
 enum {
 	POSCTL_CALIB_MODE_OFF = 0,
-	POSCTL_CALIB_MODE_START,
+	POSCTL_CALIB_MODE_STOP1,
-	POSCTL_CALIB_MODE_DELTA,
+	POSCTL_CALIB_MODE_DELTAM,
-	POSCTL_CALIB_MODE_AXIS1,
+	POSCTL_CALIB_MODE_AXIS1START,
-	POSCTL_CALIB_MODE_AXIS2,
+	POSCTL_CALIB_MODE_AXIS1M,
+	POSCTL_CALIB_MODE_AXIS2START,
+	POSCTL_CALIB_MODE_AXIS2M,
 	POSCTL_CALIB_MODE_FINISH
 };
 
@@ -87,6 +89,7 @@ class PosCtl {
 		void CalibModeDelta(int x, int y);
 		void CalibModeAxis(int x, int y);
 		void CalibModeFinish();
+		void CalibModeWait(int x, int y);
 
 		int OutputClose();
 		int OutputOpen();

posctl.cc

@@ -60,7 +60,8 @@ void axis_history_add(int axis, double diff, double out) {
 
 #define CALIB_DURATION_DELTA 	120.0		// max time in sec for the detection of rotation movement
 #define CALIB_DURATION_AXIS 	120.0		// max time in sec for the detection of axis movement
-#define CALIB_DURATION_DIST 100.0		// max distance to detect movement
+#define CALIB_DURATION_DIST 	 20.0		// max distance to detect movement
+#define CALIB_STARTSTOP_DELAY	  2.5		// time to wait for start and stop
 
 void posctl_gui_update();
 
@@ -620,7 +621,7 @@ void PosCtl::StartCalibration() {
 		return;
 	}
 	mode = POSCTL_MODE_CALIB;
-	calib_mode = POSCTL_CALIB_MODE_START;
+	calib_mode = POSCTL_CALIB_MODE_STOP1;
 	gettimeofday (&calib_timestamp, NULL);
 	gdk_threads_add_idle(cb_thread_posctl, NULL);
 }
@@ -669,13 +670,33 @@ void PosCtl::CalibModeStart(int x, int y) {
 	calib_pos.x = x;
 	calib_pos.y = y;
 
-	calib_mode = POSCTL_CALIB_MODE_DELTA;
+	calib_mode = POSCTL_CALIB_MODE_STOP1;
 	if (OutputWriteStop()) mode = POSCTL_MODE_OFF;
 	gettimeofday (&calib_timestamp, NULL);
 	gdk_threads_add_idle(cb_thread_posctl, NULL);
 };
 
 
+void PosCtl::CalibModeWait(int x, int y) {
+	struct timeval tv;
+	float timediff;
+
+	gettimeofday (&tv, NULL);
+	timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);
+
+	if (timediff > CALIB_STARTSTOP_DELAY) {
+		printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+
+		calib_mode++;
+		calib_pos.x = x;
+		calib_pos.y = y;
+
+		gettimeofday (&calib_timestamp, NULL);
+		gdk_threads_add_idle(cb_thread_posctl, NULL);
+	}
+}
+
+
 void PosCtl::CalibModeDelta(int x, int y) {
 	struct timeval tv;
 	float timediff;
@@ -697,12 +718,12 @@ void PosCtl::CalibModeDelta(int x, int y) {
 		LockMutex();
 		calib_rot_v = fp;
 		calc_vec2anglelen(&fp, &calib_rot);
+		printf ("%s:%d %s   calib_rot_v.x:%f calib_rot_v.y:%f\n", __FILE__, __LINE__, __FUNCTION__, calib_rot_v.x, calib_rot_v.y);
 		UnLockMutex();
 
-		calib_mode = POSCTL_CALIB_MODE_AXIS1;
+		calib_mode = POSCTL_CALIB_MODE_AXIS1START;
-		calib_pos.x = x;
-		calib_pos.y = y;
 
+		if (OutputWriteStop()) mode = POSCTL_MODE_OFF;
 		if (OutputWriteValue(0, pid_axis[0].GetMax())) mode = POSCTL_MODE_OFF;
 
 		gettimeofday (&calib_timestamp, NULL);
@@ -723,25 +744,23 @@ void PosCtl::CalibModeAxis(int x, int y) {
 
 	if (timediff > CALIB_DURATION_AXIS || dist > CALIB_DURATION_DIST) {
 		printf ("%s:%d %s calib_mode: %d\n", __FILE__, __LINE__, __FUNCTION__, calib_mode);
+		printf ("%s:%d x: %d y: %d cpos.x:%d cpos.y:%d rot.x:%f  rot.y:%f\n", __FILE__, __LINE__, x, y, calib_pos.x, calib_pos.y, calib_rot_v.x, calib_rot_v.y);
 
-		fp.x = +(x - calib_pos.x) / timediff;
+		fp.x = (x - calib_pos.x) / timediff;
-		fp.y = +(y - calib_pos.y) / timediff;
+		fp.y = (y - calib_pos.y) / timediff;
 
-		if (calib_mode ==  POSCTL_CALIB_MODE_AXIS1)	{
+		if (calib_mode == POSCTL_CALIB_MODE_AXIS1M)	{
-			calib_axis1_v = fp - calib_rot_v;
+			calib_axis1_v = fp;
 			calc_vec2anglelen(&calib_axis1_v, &calib_axis1);
 			if (OutputWriteStop()) mode = POSCTL_MODE_OFF;
 			else if (OutputWriteValue(1, pid_axis[1].GetMax())) mode = POSCTL_MODE_OFF;
 		}
-		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS2)	{
+		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS2M)	{
-			calib_axis2_v = fp - calib_rot_v;
+			calib_axis2_v = fp;
 			calc_vec2anglelen(&calib_axis2_v, &calib_axis2);
-			if (OutputWriteStart()) mode = POSCTL_MODE_OFF;
 		}
 
-		calib_mode++;
+		if (calib_mode != POSCTL_CALIB_MODE_OFF) calib_mode++;
-		calib_pos.x = x;
-		calib_pos.y = y;
 		gettimeofday (&calib_timestamp, NULL);
 		gdk_threads_add_idle(cb_thread_posctl, NULL);
 	}
@@ -753,13 +772,16 @@ void PosCtl::CalibModeFinish() {
 
 	mode = POSCTL_MODE_OFF;
 	calib_mode = POSCTL_CALIB_MODE_OFF;
+	if (OutputWriteStop()) mode = POSCTL_MODE_OFF;
+	if (OutputWriteValue(0, 0.5 * (pid_axis[0].GetMin() + pid_axis[0].GetMax()))) mode = POSCTL_MODE_OFF;
+	if (OutputWriteValue(1, 0.5 * (pid_axis[1].GetMin() + pid_axis[1].GetMax()))) mode = POSCTL_MODE_OFF;
 	gettimeofday (&calib_timestamp, NULL);
 	gdk_threads_add_idle(cb_thread_posctl, NULL);
 };
 
 
 /*
- * Loop, if new data is aviable
+ * Loop, if new data is aviable{
  */
 void PosCtl::Loop (int posx, int posy) {
 #ifdef DEBUG_POSCTL
@@ -773,14 +795,16 @@ void PosCtl::Loop (int posx, int posy) {
 	// calibration mode?
 	if (mode == POSCTL_MODE_CALIB) {
 		switch (calib_mode) {
-		case (POSCTL_CALIB_MODE_START):
+		case (POSCTL_CALIB_MODE_STOP1):
-			CalibModeStart(posx, posy);
+		case (POSCTL_CALIB_MODE_AXIS1START):
+		case (POSCTL_CALIB_MODE_AXIS2START):
+			CalibModeWait(posx, posy);
 			break;
-		case (POSCTL_CALIB_MODE_DELTA):
+		case (POSCTL_CALIB_MODE_DELTAM):
 			CalibModeDelta(posx, posy);
 			break;
-		case (POSCTL_CALIB_MODE_AXIS1):
+		case (POSCTL_CALIB_MODE_AXIS1M):
-		case (POSCTL_CALIB_MODE_AXIS2):
+		case (POSCTL_CALIB_MODE_AXIS2M):
 			CalibModeAxis(posx, posy);
 			break;
 		case (POSCTL_CALIB_MODE_FINISH):
@@ -790,6 +814,7 @@ void PosCtl::Loop (int posx, int posy) {
 			calib_mode = POSCTL_CALIB_MODE_OFF;
 			mode = POSCTL_MODE_OFF;
 			gdk_threads_add_idle(cb_thread_posctl, NULL);
+			break;
 		}
 	}
 

simpleskycam.ui

@@ -324,6 +324,7 @@
                                 <property name="receives-default">False</property>
                                 <property name="halign">start</property>
                                 <property name="valign">start</property>
+                                <property name="active">True</property>
                                 <property name="draw-indicator">True</property>
                                 <property name="group">detect-pos-cboff</property>
                                 <signal name="toggled" handler="cb_detect_detecttype" swapped="no"/>