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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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27
LibSidServo/serial.c
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@@ -64,11 +64,13 @@ void getXspeed(){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
pthread_mutex_unlock(&datamutex);
//DBG("Xspeed=%g", mountdata.encXspeed.val);
#if 0
mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
@@ -83,11 +85,13 @@ void getYspeed(){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
}
pthread_mutex_unlock(&datamutex);
#if 0
mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
@@ -325,15 +329,19 @@ static void *encoderthread2(void _U_ *u){
}
double v, t;
if(getencval(encfd[0], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = X_ENC2RAD(v);
//DBG("encX(%g) = %g", t, mountdata.encXposition.val);
mountdata.encXposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
getXspeed();
if(getencval(encfd[1], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encYposition.val = Y_ENC2RAD(v);
//DBG("encY(%g) = %g", t, mountdata.encYposition.val);
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
getYspeed();
errctr = 0;
@@ -384,12 +392,25 @@ static void *mountthread(void _U_ *u){
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
bzero(&mountdata, sizeof(mountdata));
double t0 = nanotime();
static double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
if(Conf.RunModel) while(1){
pthread_mutex_lock(&datamutex);
coordval_pair_t c;
// now change data
getModData(&mountdata);
getModData(&c);
pthread_mutex_lock(&datamutex);
double tnow = c.X.t;
mountdata.motXposition.t = mountdata.encXposition.t = mountdata.motYposition.t = mountdata.encYposition.t = tnow;
mountdata.motXposition.val = mountdata.encXposition.val = c.X.val;
mountdata.motYposition.val = mountdata.encYposition.val = c.Y.val;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)(tnow * 1e3);
oldmt = tnow;
}else mountdata.millis = oldmillis;
pthread_mutex_unlock(&datamutex);
double t0 = nanotime();
getXspeed(); getYspeed();
while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = nanotime();
}