src/Config.zig

@@ -32,20 +32,11 @@ pub fn destroy(allocator: std.mem.Allocator) void {
 
 rotctl: RotControlConfig = .{
     .listen_address = "127.0.0.1",
-    .listen_port = 4533,
+    .listen_port = 5432,
 },
 labjack: LabjackConfig = .{
     .device = .autodetect,
     .feedback_calibration = .{
-        // NOTE: these min and max angles are treated as hardware limits. This serves
-        //       two purposes: first, it means that feedback is always interpolated,
-        //       never extrapolated (though with a two point calibration, that doesn't
-        //       matter much). Second, it prevents having a redundant set of bounds
-        //       values that could potentially desync from these and cause problems.
-        //
-        // The functional min and max are these plus the angle offset values. For
-        // example, given controller.angle_offset.azimuth = -6, the practical minimum
-        // azimuth would be -6 deg and the practical maximum would be 444 deg.
         .azimuth = .{
             .minimum = .{ .voltage = 0.0, .angle = 0.0 },
             .maximum = .{ .voltage = 5.0, .angle = 450.0 },
@@ -57,17 +48,14 @@ labjack: LabjackConfig = .{
     },
 },
 controller: ControllerConfig = .{
-    .azimuth_input = .{ .channel = .diff_01, .range = .@"5 V" },
-    .elevation_input = .{ .channel = .diff_23, .range = .@"5 V" },
+    .azimuth_input = .{ .channel = .diff_01, .gain_index = 2 },
+    .elevation_input = .{ .channel = .diff_23, .gain_index = 2 },
     .azimuth_outputs = .{ .increase = .{ .io = 0 }, .decrease = .{ .io = 1 } },
     .elevation_outputs = .{ .increase = .{ .io = 2 }, .decrease = .{ .io = 3 } },
     .loop_interval_ns = 50_000_000,
     .parking_posture = .{ .azimuth = 180, .elevation = 90 },
     .angle_tolerance = .{ .azimuth = 1, .elevation = 1 },
     .angle_offset = .{ .azimuth = 0, .elevation = 0 },
-    // this is a symmetric mask, so the minimum usable elevation is elevation_mask deg
-    // and the maximum usable elevation is 180 - elevation_mask deg
-    .elevation_mask = 0.0,
 },
 
 pub const VoltAngle = struct { voltage: f64, angle: f64 };
@@ -118,7 +106,6 @@ const ControllerConfig = struct {
     parking_posture: AzEl,
     angle_tolerance: AzEl,
     angle_offset: AzEl,
-    elevation_mask: f64,
 
     const OutPair = struct {
         increase: lj.DigitalOutputChannel,

src/LabjackYaesu.zig

@@ -40,13 +40,7 @@ pub fn setTarget(self: LabjackYaesu, target: AzEl) void {
     defer self.lock.unlock();
 
     const controller = @constCast(self.controller);
-    controller.target = .{
-        .azimuth = target.azimuth,
-        .elevation = @min(
-            @max(target.elevation, config.controller.elevation_mask),
-            180.0 - config.controller.elevation_mask,
-        ),
-    };
+    controller.target = target;
     controller.requested_state = .running;
 }
 

src/RotCtl.zig

@@ -1,7 +1,6 @@
 const std = @import("std");
 
-const Config = @import("./Config.zig");
-const config = Config.global;
+const config = @import("./Config.zig").global;
 const LabjackYaesu = @import("./LabjackYaesu.zig");
 
 const RotCtl = @This();
@@ -114,27 +113,6 @@ fn getPosition(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!vo
     self.printReply("{d:.1}\n{d:.1}", .{ pos.azimuth, pos.elevation }) catch return error.BadOutput;
 }
 
-fn inRange(request: f64, comptime dof: enum { azimuth, elevation }) bool {
-    return switch (dof) {
-        // zig fmt: off
-        .azimuth => request >= (
-                  config.labjack.feedback_calibration.azimuth.minimum.angle
-                + config.controller.angle_offset.azimuth
-            ) and request <= (
-                  config.labjack.feedback_calibration.azimuth.maximum.angle
-                + config.controller.angle_offset.azimuth
-        ),
-        .elevation => request >= (
-                  config.labjack.feedback_calibration.elevation.minimum.angle
-                + config.controller.angle_offset.elevation
-            ) and request <= (
-                  config.labjack.feedback_calibration.elevation.maximum.angle
-                + config.controller.angle_offset.elevation
-        ),
-        // zig fmt: on
-    };
-}
-
 fn setPosition(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!void {
     const azimuth = std.fmt.parseFloat(f64, tokens.next() orelse {
         return self.replyStatus(.invalid_parameter) catch error.BadOutput;
@@ -142,18 +120,12 @@ fn setPosition(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!vo
         return self.replyStatus(.invalid_parameter) catch error.BadOutput;
     };
 
-    if (!inRange(azimuth, .azimuth))
-        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
-
     const elevation = std.fmt.parseFloat(f64, tokens.next() orelse {
         return self.replyStatus(.invalid_parameter) catch error.BadOutput;
     }) catch {
         return self.replyStatus(.invalid_parameter) catch error.BadOutput;
     };
 
-    if (!inRange(elevation, .elevation))
-        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
-
     self.rotator.setTarget(.{ .azimuth = azimuth, .elevation = elevation });
     return self.replyStatus(.okay) catch error.BadOutput;
 }

src/labjack.zig

@@ -50,7 +50,7 @@ pub const Labjack = struct {
             &id,
             @intFromBool(self.demo),
             input.channelNumber(),
-            input.gainIndex(),
+            input.gain_index,
             &over_v,
             &res.voltage,
         );
@@ -93,7 +93,7 @@ pub const Labjack = struct {
         var gains: [incount]c_long = undefined;
         for (inputs, &in_channels, &gains) |from, *inc, *gain| {
             inc.* = from.channelNumber();
-            gain.* = from.gainIndex();
+            gain.* = from.gain_index;
         }
         var v_out: [4]f32 = .{0} ** 4;
         var over_v: c_long = 0;
@@ -133,15 +133,11 @@ pub const Labjack = struct {
 
 pub const AnalogInput = struct {
     channel: AnalogInputChannel,
-    range: InputRange = .@"20 V",
+    gain_index: GainIndex = 0,
 
     pub fn channelNumber(self: AnalogInput) u4 {
         return @intFromEnum(self.channel);
     }
-
-    pub fn gainIndex(self: AnalogInput) GainIndex {
-        return @intFromEnum(self.range);
-    }
 };
 
 pub const AnalogReadResult = struct {
@@ -211,17 +207,6 @@ pub const DigitalOutputChannel = union(enum) {
 // 7 => G=20 ±1 volt
 pub const GainIndex = u3;
 
-pub const InputRange = enum(GainIndex) {
-    @"20 V" = 0,
-    @"10 V" = 1,
-    @"5 V" = 2,
-    @"4 V" = 3,
-    @"2.5 V" = 4,
-    @"2 V" = 5,
-    @"1.25 V" = 6,
-    @"1 V" = 7,
-};
-
 pub const PackedOutput = packed struct(u4) {
     io0: bool,
     io1: bool,