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fixed bug in PID

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This commit is contained in:
Edward V. Emelianov
2025-08-07 17:39:13 +03:00
parent f0ab4ae770
commit 34d22614a6
11 changed files with 51 additions and 36 deletions
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6
LibSidServo/examples/dump.c
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@@ -67,17 +67,13 @@ static double filter(double val, int idx){
void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
static double t0 = -1.;
if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
return;
}
double tnow = (m->encXposition.t + m->encYposition.t) / 2.;
if(t0 < 0.) t0 = tnow;
double t = tnow - t0;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
m->motXposition.t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
m->millis);