factotum/rotint
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main: respect elevation mask

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This is done silently, in the sense that the UI doesn't show that it is
clamping the requested pointing target in this way.
This commit is contained in:
torque
2024-08-22 11:49:01 -07:00
parent 511f2ca903
commit b6caab906a
1 changed files with 6 additions and 1 deletions
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7
src/main.zig
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@@ -180,10 +180,15 @@ pub const RotInt = struct {
self.pollcount = (self.pollcount + 1) % self.command_freq;
if (self.pollcount == 0) {
const mangled: AzEl = .{
var mangled: AzEl = .{
.az = self.requested_posture.az + self.offsets.az,
.el = self.requested_posture.el + self.offsets.el,
};
mangled.el = if (mangled.el > 90)
@min(mangled.el, 180 - self.conf.elevation_mask)
else
@max(mangled.el, self.conf.elevation_mask);
self.sendRotatorCommand(.{ .set_position = mangled });
} else {
self.sendRotatorCommand(.get_position);