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introduce a lot of errors when trying to apply model

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This commit is contained in:
Edward V. Emelianov
2025-07-30 16:45:42 +03:00
parent 502014bee4
commit 04ee999159
11 changed files with 627 additions and 113 deletions
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42
LibSidServo/ssii.h
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@@ -16,6 +16,10 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* This file contains stuff for sidereal-servo specific protocol
*/
#pragma once
#include <math.h>
@@ -171,16 +175,30 @@
// amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (20)
// TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV_SSI (13312000.)
//#define X_MOT_STEPSPERREV (3325952.)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3328000.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV_SSI (17578668.)
//#define Y_MOT_STEPSPERREV (4394960.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394667.)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (61245239)
#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// convert angle in radians to +-pi
static inline double ang2half(double ang){
if(ang < -M_PI) ang += 2.*M_PI;
@@ -214,21 +232,6 @@ static inline double ang2full(double ang){
#define ADDER2S(a) ((a) / SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) * SITECH_LOOP_FREQUENCY)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (61245239)
#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// encoder's tolerance (ticks)
#define YencTOL (25.)
#define XencTOL (25.)
@@ -334,5 +337,4 @@ int SSrawcmd(const char *cmd, data_t *answer);
int SSgetint(const char *cmd, int64_t *ans);
int SSsetterI(const char *cmd, int32_t ival);
int SSstop(int emerg);
int SSshortCmd(SSscmd *cmd);
mcc_errcodes_t updateMotorPos();