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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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17
LibSidServo/main.c
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@@ -75,10 +75,8 @@ static void quit(){
DBG("Exit");
}
void getModData(mountdata_t *mountdata){
if(!mountdata || !Xmodel || !Ymodel) return;
static double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
void getModData(coordval_pair_t *c){
if(!c || !Xmodel || !Ymodel) return;
double tnow = nanotime();
moveparam_t Xp, Yp;
movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
@@ -86,14 +84,9 @@ void getModData(mountdata_t *mountdata){
if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
mountdata->motXposition.t = mountdata->encXposition.t = mountdata->motYposition.t = mountdata->encYposition.t = tnow;
mountdata->motXposition.val = mountdata->encXposition.val = Xp.coord;
mountdata->motYposition.val = mountdata->encYposition.val = Yp.coord;
getXspeed(); getYspeed();
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata->millis = (uint32_t)(tnow * 1e3);
oldmt = tnow;
}else mountdata->millis = oldmillis;
c->X.t = c->Y.t = tnow;
c->X.val = Xp.coord;
c->Y.val = Yp.coord;
}
/**