Function stepper_move

src/track.c:286–345

}

static unsigned int stepper_move(struct context *cnt, struct coord *cent, struct images *imgs)
{
    unsigned int command = 0, data = 0;

    if (cnt->track.dev < 0) {
        MOTION_LOG(WRN, TYPE_TRACK, NO_ERRNO
            ,_("No device %s started yet , trying stepper_center()")
            ,cnt->track.port);

        if (!stepper_center(cnt, 0, 0)) {
            MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO
                ,_("failed to initialize stepper device on %s , fd [%i].")
                ,cnt->track.port, cnt->track.dev);
            return 0;
        }

        MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO
            ,_("succeed , device started %s , fd [%i]")
            ,cnt->track.port, cnt->track.dev);
    }

    /* x-axis */

    if (cent->x < imgs->width / 2) {
        command = STEPPER_COMMAND_LEFT_N;
        data = imgs->width / 2 - cent->x;
    }

    if (cent->x > imgs->width / 2) {
        command = STEPPER_COMMAND_RIGHT_N;
        data = cent->x - imgs->width / 2;
    }

    data = data * cnt->track.stepsize / imgs->width;

    if (data) {
        stepper_command(cnt, cnt->track.motorx, command, data);
    }

    /* y-axis */

    if (cent->y < imgs->height / 2) {
        command = STEPPER_COMMAND_UP_N;
        data = imgs->height / 2 - cent->y;
    }

    if (cent->y > imgs->height / 2) {
        command = STEPPER_COMMAND_DOWN_N;
        data = cent->y - imgs->height / 2;
    }

    data = data * cnt->track.stepsize / imgs->height;

    if (data) {
        stepper_command(cnt, cnt->track.motory, command, data);
    }