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52 lines
1.5 KiB
52 lines
1.5 KiB
#include <stdio.h>
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#include <math.h>
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#include "../arduino/teeth_config.h"
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static const float nr_teeth_small = CONFIG_TEETH_SMALL; // 13.0
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static const float nr_teeth_big = CONFIG_TEETH_BIG; // 51.0
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static const float axis_hinge_dist_mm = 200;
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#define PI M_PI
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// Use immediate value. Using symbolic values leads to incorrect value.
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static const float earth_rot_speed_rad_msec = 7.272205e-8; //2*PI / (1440*60);
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static const float bolt_thread_mm = 1.25;
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/* static const unsigned int microstepping_div = 16; */
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/* static const unsigned int nr_steps = 200 * microstepping_div; */
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/* static const double stepper_gear_rad_per_step = (2*PI) / nr_steps; */
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// this needs to be reset
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/* static struct rot_state_t { */
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/* unsigned long elapsed_time_millis; */
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/* double stepper_gear_rot_rad = 0; */
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/* } rot_state; */
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static double get_expected_stepper_rot(unsigned long elapsed_time_millis) {
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const float r = tan(earth_rot_speed_rad_msec * elapsed_time_millis)
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* axis_hinge_dist_mm
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* 2 * PI
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* nr_teeth_big
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/ (bolt_thread_mm * nr_teeth_small);
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// 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);
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return r;
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}
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int main(int argc, char **argv) {
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unsigned long sec_step = 0;
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for (sec_step=0; sec_step < 1000; sec_step++) {
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const float exp = get_expected_stepper_rot(sec_step * 1000);
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printf("%d (%d sec) : %f (%f rounds)\n", sec_step*1000, sec_step, exp, exp/(2*PI));
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}
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return 0;
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}
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