From d0d03b5088daac98bab87fd36b5b8a317fcbac2c Mon Sep 17 00:00:00 2001
From: torque <torque@epicyclic.dev>
Date: Thu, 11 Jul 2024 19:15:11 -0700
Subject: [PATCH] controller: make controller info printout more useful

This has a lot more relevant information now. Anyway, this has been
tested on real hardware, and it appears to work pretty well. I am
considering changing the control loop so that it isn't always
operating on stale feedback (two LabJack calls per loop when actively
controlling pointing). Also the calibration routines need to be
implemented.
---
 src/YaesuController.zig | 35 +++++++++++++++++++++++++++++++----
 src/main.zig            |  5 +++++
 2 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/src/YaesuController.zig b/src/YaesuController.zig
index 8cfe177..ef471db 100644
--- a/src/YaesuController.zig
+++ b/src/YaesuController.zig
@@ -180,7 +180,21 @@ const Controller = struct {
         };
     }
 
-    fn signDeadzone(offset: f64, deadzone: f64) enum { negative, zero, positive } {
+    const Sign = enum {
+        negative,
+        zero,
+        positive,
+
+        pub fn symbol(self: Sign) u21 {
+            return switch (self) {
+                .negative => '-',
+                .zero => '×',
+                .positive => '+',
+            };
+        }
+    };
+
+    fn signDeadzone(offset: f64, deadzone: f64) Sign {
         return if (@abs(offset) < deadzone)
             .zero
         else if (offset < 0)
@@ -224,11 +238,24 @@ const Controller = struct {
         drive_signal[config.controller.elevation_outputs.increase.io] = elsign == .positive;
         drive_signal[config.controller.elevation_outputs.decrease.io] = elsign == .negative;
 
-        log.info("drive: az = {s}, el = {s}. outputs: {any}", .{ @tagName(azsign), @tagName(elsign), drive_signal });
-
         const raw = try self.labjack.readAnalogWriteDigital(2, inputs, drive_signal, true);
+        const angles = lerpAndOffsetAngles(raw);
 
-        return lerpAndOffsetAngles(raw);
+        log.info(
+            // -180.1 is 6 chars. -5.20 is 5 chars
+            "az: {d: >6.1}° ({d: >5.2} V) Δ {d: >6.1}° => {u}, el: {d: >6.1}° ({d: >5.2} V) Δ {d: >6.1}° => {u}",
+            .{
+                angles.azimuth,
+                raw[0].voltage,
+                pos_error.azimuth,
+                azsign.symbol(),
+                angles.elevation,
+                raw[1].voltage,
+                pos_error.elevation,
+                elsign.symbol(),
+            },
+        );
+        return angles;
     }
 
     fn run(self: *Controller) !void {
diff --git a/src/main.zig b/src/main.zig
index 3223c5f..c4406d9 100644
--- a/src/main.zig
+++ b/src/main.zig
@@ -13,6 +13,11 @@ fn printStderr(comptime fmt: []const u8, args: anytype) void {
 }
 
 pub fn main() !u8 {
+    if (comptime builtin.os.tag == .windows) {
+        // set output to UTF-8 on Windows
+        _ = std.os.windows.kernel32.SetConsoleOutputCP(65001);
+    }
+
     var gpa = std.heap.GeneralPurposeAllocator(.{}){};
     defer _ = gpa.deinit();
     const allocator = gpa.allocator();