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PID seems like almost working, but I have a great problem with model!

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This commit is contained in:
Edward V. Emelianov
2025-08-05 18:55:21 +03:00
parent 864e257884
commit 138e4bf84d
16 changed files with 218 additions and 105 deletions
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16
LibSidServo/examples/SSIIconf.c
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@@ -51,10 +51,10 @@ static sl_option_t confopts[] = {
end_option
};
static void dumpaxe(char axe, axe_config_t *c){
static void dumpaxis(char axis, axis_config_t *c){
#define STRUCTPAR(p) (c)->p
#define DUMP(par) do{printf("%c%s=%g\n", axe, #par, STRUCTPAR(par));}while(0)
#define DUMPD(par) do{printf("%c%s=%g\n", axe, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
#define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
DUMPD(accel);
DUMPD(backlash);
DUMPD(errlimit);
@@ -99,12 +99,12 @@ static void dumpHWconf(){
#define DUMPD(par) do{printf("%s=%g\n", #par, RAD2DEG(STRUCTPAR(par)));}while(0)
#define DUMPU8(par) do{printf("%s=%u\n", #par, (uint8_t)STRUCTPAR(par));}while(0)
#define DUMPU32(par) do{printf("%s=%u\n", #par, (uint32_t)STRUCTPAR(par));}while(0)
green("X axe configuration:\n");
dumpaxe('X', &HW.Xconf);
green("X axis configuration:\n");
dumpaxis('X', &HW.Xconf);
green("X bits:\n");
dumpxbits(&HW.xbits);
green("Y axe configuration:\n");
dumpaxe('Y', &HW.Yconf);
green("Y axis configuration:\n");
dumpaxis('Y', &HW.Yconf);
green("Y bits:\n");
dumpybits(&HW.ybits);
green("Other:\n");
@@ -143,10 +143,12 @@ int main(int argc, char** argv){
}
if(MCC_E_OK != Mount.init(sconf)) ERRX("Can't init mount");
if(MCC_E_OK != Mount.getHWconfig(&HW)) ERRX("Can't read configuration");
/*
char *c = sl_print_opts(confopts, TRUE);
green("Got configuration:\n");
printf("%s\n", c);
FREE(c);
*/
dumpHWconf();
/*
if(G.hwconffile && G.writeconf){