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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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19
LibSidServo/examples/traectories.c
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@@ -30,10 +30,6 @@ static traectory_fn cur_traectory = NULL;
// starting point of traectory
static coordpair_t XYstart = {0};
static double tstart = 0.;
// convert Xe/Ye to approximate motor coordinates:
// Xnew = Xcor+Xe; Ynew = Ycor+Ye; as Ye goes backwards to Ym, we have
// Xcor = Xm0 - Xe0; Ycor = Xm0 + Ye0
static coordval_pair_t XYcor = {0};
/**
* @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
@@ -52,9 +48,6 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
if(MCC_E_OK == Mount.getMountData(&mdata)) break;
}
if(ntries == 10) return FALSE;
XYcor.X.val = mdata.motXposition.val - mdata.encXposition.val;
XYcor.Y.val = mdata.motYposition.val - mdata.encYposition.val;
DBG("STARTING POINTS: x=%g, y=%g degrees", DEG2RAD(XYcor.X.val), DEG2RAD(XYcor.Y.val));
return TRUE;
}
@@ -83,8 +76,8 @@ int telpos(coordval_pair_t *curpos){
}
if(ntries == 10) return FALSE;
coordval_pair_t pt;
pt.X.val = XYcor.X.val + mdata.encXposition.val;
pt.Y.val = XYcor.Y.val + mdata.encYposition.val;
pt.X.val = mdata.encXposition.val;
pt.Y.val = mdata.encYposition.val;
pt.X.t = mdata.encXposition.t;
pt.Y.t = mdata.encYposition.t;
if(curpos) *curpos = pt;
@@ -94,7 +87,7 @@ int telpos(coordval_pair_t *curpos){
// X=X0+1'/s, Y=Y0+15''/s
int Linear(coordpair_t *nextpt, double t){
coordpair_t pt;
pt.X = XYstart.X + ASEC2RAD(1.) * (t - tstart);
pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
if(nextpt) *nextpt = pt;
return TRUE;
@@ -103,7 +96,7 @@ int Linear(coordpair_t *nextpt, double t){
// X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
int SinCos(coordpair_t *nextpt, double t){
coordpair_t pt;
pt.X = XYstart.X + AMIN2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
pt.X = XYstart.X + ASEC2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
if(nextpt) *nextpt = pt;
return TRUE;
@@ -116,8 +109,8 @@ typedef struct{
} tr_names;
static tr_names names[] = {
{Linear, "linear", "X=X0+1'/s, Y=Y0+15''/s"},
{SinCos, "sincos", "X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
{Linear, "linear", "X=X0+0.1''/s, Y=Y0+15''/s"},
{SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
{NULL, NULL, NULL}
};