minor change in 'native' checker

use correct gears sizes.

native/native.C

@@ -1,14 +1,18 @@
 #include <stdio.h>
 #include <math.h>
 
-static const double nr_teeth_small = 11.0;
-static const double nr_teeth_big = 53.0;
-static const double axis_hinge_dist_mm = 200;
+#include "../arduino/teeth_config.h"
+
+static const float nr_teeth_small = CONFIG_TEETH_SMALL; // 13.0
+static const float nr_teeth_big = CONFIG_TEETH_BIG; // 51.0
+static const float axis_hinge_dist_mm = 200;
 
 #define PI M_PI
 
-static const double earth_rot_speed_rad_sec = 2*PI / (1440*60*1000);
-static const double bolt_thread_mm = 1.25;
+// Use immediate value. Using symbolic values leads to incorrect value.
+static const float earth_rot_speed_rad_msec = 7.272205e-8; //2*PI / (1440*60);
+
+static const float bolt_thread_mm = 1.25;
 
 
 /* static const unsigned int microstepping_div = 16; */
@@ -23,19 +27,25 @@ static const double bolt_thread_mm = 1.25;
 /*   double stepper_gear_rot_rad = 0; */
 /* } rot_state; */
 
-
 static double get_expected_stepper_rot(unsigned long elapsed_time_millis) {
-  const double r = tan(fmod(earth_rot_speed_rad_sec * (elapsed_time_millis), PI)) * axis_hinge_dist_mm * 2 * PI * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
+  const float r = tan(earth_rot_speed_rad_msec * elapsed_time_millis)
+    * axis_hinge_dist_mm
+    * 2 * PI
+    * nr_teeth_big
+    / (bolt_thread_mm * nr_teeth_small);
+
+  // const float r = tan(earth_rot_speed_rad_sec * (elapsed_time_millis)) * axis_hinge_dist_mm * 2 * PI * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
 
   return r;
 }
 
 
 int main(int argc, char **argv) {
-  unsigned long millis_step = 0;
+  unsigned long sec_step = 0;
 
-  for (millis_step=0; millis_step < 1000; millis_step++) {
-    printf("%d (%d sec) : %f\n", millis_step*1000, millis_step, get_expected_stepper_rot(millis_step * 1000));
+  for (sec_step=0; sec_step < 1000; sec_step++) {
+    const float exp = get_expected_stepper_rot(sec_step * 1000);
+    printf("%d (%d sec) : %f (%f rounds)\n", sec_step*1000, sec_step, exp, exp/(2*PI));
 
   }
   return 0;

native/native.py

@@ -4,8 +4,8 @@ import sys
 import numpy
 
 BOLT_THREAD = 1.25
-NR_TEETH_BIG=53
-NR_TEETH_SMALL=11
+NR_TEETH_BIG=51
+NR_TEETH_SMALL=13
 
 EARTH_SIDERAL_DAY = 1440
 HINGE_ROD_LEN = 200
@@ -40,7 +40,7 @@ def debug_from_step_angle(sangle):
 def get_step_angle_from_time(time_in_sec):
     final_angle = time_in_sec *  2 * numpy.pi / (1440*60)
     sangle = numpy.tan(final_angle) * HINGE_ROD_LEN * 2 * numpy.pi * NR_TEETH_BIG / (BOLT_THREAD * NR_TEETH_SMALL)
-    print("For {} sec, final angle is {} rad => step angle is {}".format(time_in_sec, final_angle, sangle))
+    print("For {} sec, final angle is {} rad ({} deg) => step angle is {}".format(time_in_sec, final_angle, final_angle * 360 /(2*numpy.pi), sangle))
     verif_final = debug_from_step_angle(sangle)
           
 get_step_angle_from_time(int(sys.argv[1]))