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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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LibSidServo/movingmodel.h
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@@ -60,8 +60,8 @@ typedef struct movemodel{
moveparam_t Max;
movingstage_t movingstage;
movestate_t state;
double Times[STAGE_AMOUNT];
moveparam_t Params[STAGE_AMOUNT];
double *Times;
moveparam_t *Params;
moveparam_t curparams; // init values of limits, jerk
int (*calculate)(struct movemodel *m, moveparam_t *target, double t); // calculate stages of traectory beginning from t
movestate_t (*proc_move)(struct movemodel *m, moveparam_t *next, double t); // calculate next model point for time t