changed to linak desk and added define for small steps

Makefile

 USB2LIN_PATH=$(CURDIR)/usb2lin
+COAP_PATH=/usr/local/include/coap
 
 CXXFLAGS+=-fmax-errors=1
 
 export CXXFLAGS
 export USB2LIN_PATH
+export COAP_PATH
 
 all: src
 

src/Makefile

@@ -8,6 +8,10 @@ LDLIBS+=-lavahi-client -lavahi-common
 override CXXFLAGS+=-I$(USB2LIN_PATH)
 LDLIBS+=-lusb-1.0 
 
+#COAP
+override CXXFLAGS+=-I$(COAP_PATH) -L/usr/local/lib
+LDLIBS+=-lcoap-1
+
 OBJS=\
 	desk-controller.o \
 	desk-frontend.o \

src/desk-controller.cpp

@@ -18,6 +18,7 @@ using namespace usb2lin06;
 #define MIN_HEIGHT 0
 #define MAX_HEIGHT 52
 #define STOP_DELAY 2
+#define SMALL_STEP_TIME 220
 
 Controller::Controller(std::string offset_file):
 		m_offsetFile(offset_file),
@@ -241,6 +242,7 @@ LinakDesk::doDeskControl(void)
 				try
 				{
 					target_height = m_queue.getMessage(chrono::seconds(1));
+					cout << __func__ << ": target_height: " << target_height << endl;
 					m_finished = false;
 				}
 				catch (TimeoutException &e)
@@ -268,7 +270,7 @@ LinakDesk::doDeskControl(void)
 		{
 			cout << "small step up... " << endl;
 			int step = m_targetHeight - m_currentHeight;
-			for (int i = 0; i < (step * 250); i++)
+			for (int i = 0; i < (step * SMALL_STEP_TIME); i++)
 				move(Command::up);
 			lck.lock();
 			m_currentHeight = getInternalHeight();
@@ -280,7 +282,7 @@ LinakDesk::doDeskControl(void)
 		{
 			cout << "small step down... " << endl;
 			int step = m_currentHeight - m_targetHeight;
-			for (int i = 0; i < (step * 250); i++)
+			for (int i = 0; i < (step * SMALL_STEP_TIME); i++)
 				move(Command::down);
 			unique_lock<mutex> lck(m_cmdMutex);
 			m_currentHeight = getInternalHeight();

src/desk-main.cpp

@@ -16,8 +16,8 @@ using namespace desk;
 
 int main(int rgc, char** argv){
 	//Controller c;
-	DummyDesk c;
-	//LinakDesk c;
+	//DummyDesk c;
+	LinakDesk c;
 	CmdFrontend cf(c);
 	CoapFrontend cof(c, 5678);