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PID test almost in ssii format

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This commit is contained in:
Edward V. Emelianov 2025-07-30 13:43:39 +03:00
parent c862d160fe
commit 502014bee4
33 changed files with 1381 additions and 110 deletions
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0
LibSidServo/PID_test/Dramp.c → LibSidServo/PID_test.deprecated/Dramp.c
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0
LibSidServo/PID_test/Dramp.h → LibSidServo/PID_test.deprecated/Dramp.h
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57
LibSidServo/PID_test.deprecated/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := moving
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros -lm
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
TARGFILE := $(OBJDIR)/TARGET
CC = gcc
#TARGET := RELEASE
ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
TARGET := $(file < $(TARGFILE))
else
TARGET := RELEASE
endif
ifeq ($(TARGET), DEBUG)
.DEFAULT_GOAL := debug
endif
release: $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: TARGET := DEBUG
debug: $(PROGRAM)
$(TARGFILE): $(OBJDIR)
@echo -e "\t\tTARGET: $(TARGET)"
@echo "$(TARGET)" > $(TARGFILE)
$(PROGRAM) : $(TARGFILE) $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
$(OBJDIR):
@mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@
clean:
@echo -e "\t\tCLEAN"
@rm -rf $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

0
LibSidServo/PID_test/Sramp.c → LibSidServo/PID_test.deprecated/Sramp.c
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0
LibSidServo/PID_test/Sramp.h → LibSidServo/PID_test.deprecated/Sramp.h
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223
LibSidServo/PID_test.deprecated/Tramp.c Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// simplest trapezioidal ramp
#include <math.h>
#include <stdio.h>
#include <strings.h>
#include <usefull_macros.h>
#include "Tramp.h"
#undef DBG
#define DBG(...)
static movestate_t state = ST_STOP;
static moveparam_t Min, Max; // `Min` acceleration not used!
typedef enum{
STAGE_ACCEL, // start from zero speed and accelerate to Max speed
STAGE_MAXSPEED, // go with target speed
STAGE_DECEL, // go from target speed to zero
STAGE_STOPPED, // stop
STAGE_AMOUNT
} movingstage_t;
static movingstage_t movingstage = STAGE_STOPPED;
static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
static int initlims(limits_t *lim){
if(!lim) return FALSE;
Min = lim->min;
Max = lim->max;
return TRUE;
}
static void emstop(double _U_ t){
curparams.accel = 0.;
curparams.speed = 0.;
bzero(Times, sizeof(Times));
bzero(Params, sizeof(Params));
state = ST_STOP;
movingstage = STAGE_STOPPED;
}
static void stop(double t){
if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
movingstage = STAGE_DECEL;
state = ST_MOVE;
Times[STAGE_DECEL] = t;
Params[STAGE_DECEL].speed = curparams.speed;
if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
else Params[STAGE_DECEL].accel = Max.accel;
Params[STAGE_DECEL].coord = curparams.coord;
// speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
// coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
double dt = Times[STAGE_STOPPED] - t;
Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
Params[STAGE_DECEL].accel * dt * dt / 2.;
}
/**
* @brief calc - moving calculation
* @param x - using max speed (>0!!!) and coordinate
* @param t - current time value
* @return FALSE if can't move with given parameters
*/
static int calc(moveparam_t *x, double t){
if(!x) return FALSE;
if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
double Dx = fabs(x->coord - curparams.coord); // full distance
double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
// we have two variants: with or without stage with constant speed
double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
double setspeed = x->speed; // new max speed (we can change it if need)
double dt01, dx01; // we'll fill them depending on starting conditions
Times[0] = t;
Params[0].speed = curparams.speed;
Params[0].coord = curparams.coord;
double curspeed = fabs(curparams.speed);
double dt0s = curspeed / Max.accel; // time of stopping phase
double dx0s = curspeed * dt0s / 2.; // distance
DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
if(dx0s > Dx){
WARNX("distance too short");
return FALSE;
}
if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
DBG("Distance good to just stop");
stop(t);
return TRUE;
}
if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
// after stop we will have full profile
double dxs3 = Dx - dx0s;
double newspeed = sqrt(Max.accel * dxs3);
if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
Params[0].accel = sign * Max.accel;
if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
DBG("dx01=%g, dt01=%g", dx01, dt01);
}else{ // increase or decrease speed without stopping phase
dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
double a = sign * Max.accel;
if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
//double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
if(dx01 + dx23 > Dx){ // calculate max speed
setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
if(setspeed < curspeed){
setspeed = curparams.speed;
dt01 = 0.; dx01 = 0.;
Params[0].accel = 0.;
}else{
Params[0].accel = a;
dt01 = fabs(setspeed - curspeed) / Max.accel;
dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
}
}else Params[0].accel = a;
}
if(setspeed < Min.speed){
WARNX("New speed should be too small");
return FALSE;
}
moveparam_t *p = &Params[STAGE_MAXSPEED];
p->accel = 0.; p->speed = sign * setspeed;
p->coord = curparams.coord + dx01 * sign;
Times[STAGE_MAXSPEED] = Times[0] + dt01;
dt23 = setspeed / Max.accel;
dx23 = setspeed * dt23 / 2.;
// calculate dx12 and dt12
double dx12 = Dx - dx01 - dx23;
if(dx12 < -coord_tolerance){
WARNX("Oops, WTF dx12=%g?", dx12);
return FALSE;
}
double dt12 = dx12 / setspeed;
p = &Params[STAGE_DECEL];
p->accel = -sign * Max.accel;
p->speed = sign * setspeed;
p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
p = &Params[STAGE_STOPPED];
p->accel = 0.; p->speed = 0.; p->coord = x->coord;
Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
for(int i = 0; i < 4; ++i)
DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
state = ST_MOVE;
movingstage = STAGE_ACCEL;
return TRUE;
}
static movestate_t proc(moveparam_t *next, double t){
if(state == ST_STOP) goto ret;
for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
if(Times[s] <= t){ // check time for current stage
movingstage = s;
break;
}
}
if(movingstage == STAGE_STOPPED){
curparams.coord = Params[STAGE_STOPPED].coord;
emstop(t);
goto ret;
}
// calculate current parameters
double dt = t - Times[movingstage];
double a = Params[movingstage].accel;
double v0 = Params[movingstage].speed;
double x0 = Params[movingstage].coord;
curparams.accel = a;
curparams.speed = v0 + a * dt;
curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
ret:
if(next) *next = curparams;
return state;
}
static movestate_t getst(moveparam_t *cur){
if(cur) *cur = curparams;
return state;
}
static double gettstop(){
return Times[STAGE_STOPPED];
}
movemodel_t trapez = {
.init_limits = initlims,
.stop = stop,
.emergency_stop = emstop,
.get_state = getst,
.calculate = calc,
.proc_move = proc,
.stoppedtime = gettstop,
};

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LibSidServo/PID_test.deprecated/Tramp.h Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "moving_private.h"
extern movemodel_t trapez;

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LibSidServo/PID_test.deprecated/main.c Normal file
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/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <stdio.h>
#include <strings.h>
#include <usefull_macros.h>
#include "moving.h"
// errors for states: slewing/pointing/guiding
#define MAX_POINTING_ERR (50.)
#define MAX_GUIDING_ERR (5.)
// timeout to "forget" old data from I sum array; seconds
#define PID_I_PERIOD (3.)
static movemodel_t *model = NULL;
static FILE *coordslog = NULL;
typedef enum{
Slewing,
Pointing,
Guiding
} state_t;
static state_t state = Slewing;
typedef struct{
int help;
char *ramptype;
char *xlog;
double dTmon;
double dTcorr;
double Tend;
double minerr;
double P, I, D;
} pars;
static pars G = {
.ramptype = "t",
.dTmon = 0.01,
.dTcorr = 0.05,
.Tend = 100.,
.minerr = 0.1,
.P = 0.8,
};
static limits_t limits = {
.min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
.max = {.coord = 1e6, .speed = 1e3, .accel = 500.},
.jerk = 10.
};
typedef struct {
double kp, ki, kd; // PID gains
double prev_error; // Previous error
double integral; // Integral term
double *pidIarray; // array for Integral
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController;
static PIDController pid;
static sl_option_t opts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"ramp", NEED_ARG, NULL, 'r', arg_string, APTR(&G.ramptype), "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
{"tmon", NEED_ARG, NULL, 'T', arg_double, APTR(&G.dTmon), "time interval for monitoring (seconds, default: 0.001)"},
{"tcor", NEED_ARG, NULL, 't', arg_double, APTR(&G.dTcorr), "time interval for corrections (seconds, default: 0.05)"},
{"xlog", NEED_ARG, NULL, 'l', arg_string, APTR(&G.xlog), "log file name for coordinates logging"},
{"tend", NEED_ARG, NULL, 'e', arg_double, APTR(&G.Tend), "end time of monitoring (seconds, default: 100)"},
{"minerr", NEED_ARG, NULL, 'm', arg_double, APTR(&G.minerr), "minimal error for corrections (units, default: 0.1)"},
{"prop", NEED_ARG, NULL, 'P', arg_double, APTR(&G.P), "P-coefficient of PID"},
{"integ", NEED_ARG, NULL, 'I', arg_double, APTR(&G.I), "I-coefficient of PID"},
{"diff", NEED_ARG, NULL, 'D', arg_double, APTR(&G.D), "D-coefficient of PID"},
// TODO: add parameters for limits setting
end_option
};
// calculate coordinate target for given time (starting from zero)
static double target_coord(double t){
if(t > 20. && t < 30.) return target_coord(20.);
double pos = 150. + 10. * sin(M_2_PI * t / 10.) + 0.02 * (drand48() - 0.5);
return pos;
}
/* P-only == oscillations
static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
double error = targcoord - p->coord;
if(fabs(error) < G.minerr) return p->speed;
return p->speed + error / dt / 500.;
}
*/
static void pid_init(PIDController *pid, double kp, double ki, double kd) {
pid->kp = fabs(kp);
pid->ki = fabs(ki);
pid->kd = fabs(kd);
pid->prev_error = 0.;
pid->integral = 0.;
pid->curIidx = 0;
pid->pidIarrSize = PID_I_PERIOD / G.dTcorr;
if(pid->pidIarrSize < 2) ERRX("I-array for PID have less than 2 elements");
pid->pidIarray = MALLOC(double, pid->pidIarrSize);
}
static void pid_clear(PIDController *pid){
if(!pid) return;
bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
pid->integral = 0.;
pid->prev_error = 0.;
pid->curIidx = 0;
}
static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
double error = targcoord - p->coord, fe = fabs(error);
switch(state){
case Slewing:
if(fe < MAX_POINTING_ERR){
pid_clear(&pid);
state = Pointing;
green("--> Pointing\n");
}else{
red("Slewing...\n");
return (error > 0.) ? limits.max.speed : -limits.max.speed;
}
break;
case Pointing:
if(fe < MAX_GUIDING_ERR){
pid_clear(&pid);
state = Guiding;
green("--> Guiding\n");
}else if(fe > MAX_POINTING_ERR){
red("--> Slewing\n");
state = Slewing;
return (error > 0.) ? limits.max.speed : -limits.max.speed;
}
break;
case Guiding:
if(fe > MAX_GUIDING_ERR){
red("--> Pointing\n");
state = Pointing;
}else if(fe < G.minerr){
green("At target\n");
//pid_clear(&pid);
//return p->speed;
}
break;
}
red("Calculate PID\n");
double oldi = pid.pidIarray[pid.curIidx], newi = error * dt;
pid.pidIarray[pid.curIidx++] = oldi;
if(pid.curIidx >= pid.pidIarrSize) pid.curIidx = 0;
pid.integral += newi - oldi;
double derivative = (error - pid.prev_error) / dt;
pid.prev_error = error;
DBG("P=%g, I=%g, D=%g", pid.kp * error, pid.integral, derivative);
double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative);
if(state == Pointing) add /= 3.;
else if(state == Guiding) add /= 7.;
DBG("ADD = %g; new speed = %g", add, p->speed + add);
if(state == Guiding) return p->speed + add / dt / 10.;
return add / dt;
}
// ./moving -l coords -P.5 -I.05 -D1.5
// ./moving -l coords -P1.3 -D1.6
static void start_model(double Tend){
double T = 0., Tcorr = 0.;//, Tlast = 0.;
moveparam_t target;
while(T <= Tend){
moveparam_t p;
movestate_t st = model->get_state(&p);
if(st == ST_MOVE) st = model->proc_move(&p, T);
double nextcoord = target_coord(T);
double error = nextcoord - p.coord;
if(T - Tcorr >= G.dTcorr){ // check correction
double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
target.speed = fabs(speed);
double res_speed = limits.max.speed / 2.;
if(target.speed > limits.max.speed){
target.speed = limits.max.speed;
res_speed = limits.max.speed / 4.;
}else if(target.speed < limits.min.speed){
target.speed = limits.min.speed;
res_speed = limits.min.speed * 4.;
}
if(!move_to(&target, T)){
target.speed = res_speed;
if(!move_to(&target, T))
WARNX("move(): can't move to %g with max speed %g", target.coord, target.speed);
}
DBG("%g: tag/cur speed= %g / %g; tag/cur pos = %g / %g; err = %g", T, target.speed, p.speed, target.coord, p.coord, error);
Tcorr = T;
}
// make log
fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
T, nextcoord, p.coord, p.speed, p.accel, error);
T += G.dTmon;
}
}
int main(int argc, char **argv){
sl_init();
sl_parseargs(&argc, &argv, opts);
if(G.help) sl_showhelp(-1, opts);
if(G.xlog){
coordslog = fopen(G.xlog, "w");
if(!coordslog) ERR("Can't open %s", G.xlog);
} else coordslog = stdout;
if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
if(G.Tend <= 0.) ERRX("tend should be > 0.");
pid_init(&pid, G.P, G.I, G.D);
fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
ramptype_t ramp = RAMP_AMOUNT;
if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
model = init_moving(ramp, &limits);
if(!model) ERRX("Can't init moving model: check parameters");
start_model(G.Tend);
fclose(coordslog);
return 0;
}

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/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <stdio.h>
#include <usefull_macros.h>
#include <pthread.h>
#include <time.h>
#include "moving.h"
#include "moving_private.h"
#include "Dramp.h"
#include "Sramp.h"
#include "Tramp.h"
//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
static movemodel_t *model = NULL;
double coord_tolerance = COORD_TOLERANCE_DEFAULT;
double time_tick = TIME_TICK_DEFAULT;
// difference of time from first call, using nanoseconds
double nanot(){
static struct timespec *start = NULL;
struct timespec now;
if(!start){
start = MALLOC(struct timespec, 1);
if(!start) return -1.;
if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
}
if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
//DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
double sd = (double)now.tv_sec - (double)start->tv_sec;
return sd + nd;
}
static void chkminmax(double *min, double *max){
if(*min <= *max) return;
double t = *min;
*min = *max;
*max = t;
}
movemodel_t *init_moving(ramptype_t type, limits_t *l){
if(!l) return FALSE;
switch(type){
case RAMP_DUMB:
model = &dumb;
break;
case RAMP_TRAPEZIUM:
model = &trapez;
break;
case RAMP_S:
model = &s_shaped;
break;
default:
return FALSE;
}
if(!model->init_limits) return NULL;
moveparam_t *max = &l->max, *min = &l->min;
if(min->speed < 0.) min->speed = -min->speed;
if(max->speed < 0.) max->speed = -max->speed;
if(min->accel < 0.) min->accel = -min->accel;
if(max->accel < 0.) max->accel = -max->accel;
chkminmax(&min->coord, &max->coord);
chkminmax(&min->speed, &max->speed);
chkminmax(&min->accel, &max->accel);
if(!model->init_limits(l)) return NULL;
return model;
}
int move_to(moveparam_t *target, double t){
if(!target || !model) return FALSE;
DBG("MOVE to %g at speed %g", target->coord, target->speed);
// only positive velocity
if(target->speed < 0.) target->speed = -target->speed;
// don't mind about acceleration - user cannot set it now
return model->calculate(target, t);
}
int init_coordtol(double tolerance){
if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
coord_tolerance = tolerance;
return TRUE;
}
int init_timetick(double tick){
if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
time_tick = tick;
return TRUE;
}

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/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// tolerance, time ticks
#define COORD_TOLERANCE_DEFAULT (0.01)
#define COORD_TOLERANCE_MIN (0.0001)
#define COORD_TOLERANCE_MAX (10.)
#define TIME_TICK_DEFAULT (0.0001)
#define TIME_TICK_MIN (1e-9)
#define TIME_TICK_MAX (10.)
typedef enum{
RAMP_DUMB, // no ramp: infinite acceleration/deceleration
RAMP_TRAPEZIUM, // trapezium ramp
RAMP_S, // s-shaped ramp
RAMP_AMOUNT
} ramptype_t;
typedef enum{
ST_STOP, // stopped
ST_MOVE, // moving
ST_AMOUNT
} movestate_t;
typedef struct{ // all values could be both as positive and negative
double coord;
double speed;
double accel;
} moveparam_t;
typedef struct{
moveparam_t min;
moveparam_t max;
double jerk;
} limits_t;
typedef struct{
int (*init_limits)(limits_t *lim); // init values of limits, jerk
int (*calculate)(moveparam_t *target, double t); // calculate stages of traectory beginning from t
movestate_t (*proc_move)(moveparam_t *next, double t); // calculate next model point for time t
movestate_t (*get_state)(moveparam_t *cur); // get current moving state
void (*stop)(double t); // stop by ramp
void (*emergency_stop)(double t); // stop with highest acceleration
double (*stoppedtime)(); // time when moving will ends
} movemodel_t;
extern double coord_tolerance;
double nanot();
movemodel_t *init_moving(ramptype_t type, limits_t *l);
int init_coordtol(double tolerance);
int init_timetick(double tick);
int move_to(moveparam_t *target, double t);

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-std=c17

4
LibSidServo/PID_test.deprecated/moving_model.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define _XOPEN_SOURCE 666
#define EBUG

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[General]

221
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1
LibSidServo/PID_test.deprecated/moving_model.cxxflags Normal file
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@ -0,0 +1 @@
-std=c++17

10
LibSidServo/PID_test.deprecated/moving_model.files Normal file
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@ -0,0 +1,10 @@
Dramp.c
Dramp.h
Sramp.c
Sramp.h
Tramp.c
Tramp.h
main.c
moving.c
moving.h
moving_private.h

0
LibSidServo/PID_test.deprecated/moving_model.includes Normal file
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26
LibSidServo/PID_test.deprecated/moving_private.h Normal file
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@ -0,0 +1,26 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "moving.h"
extern double coord_tolerance;
extern double time_tick;

4
LibSidServo/PID_test.deprecated/plot Executable file
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@ -0,0 +1,4 @@
#!/usr/bin/gnuplot
plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
pause mouse

8
LibSidServo/PID_test.deprecated/plot.cont Executable file
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@ -0,0 +1,8 @@
#!/usr/bin/gnuplot
#set term pdf
#set output "output.pdf"
while(1){
plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
pause 1
}

6
LibSidServo/PID_test.deprecated/plot_jpg Executable file
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@ -0,0 +1,6 @@
#!/usr/bin/gnuplot
set terminal jpeg size 1000,500
set output "all.jpg"
plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader

5
LibSidServo/PID_test.deprecated/plot_pdf Executable file
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@ -0,0 +1,5 @@
#!/usr/bin/gnuplot
set term pdf
set output "output.pdf"
plot for [col=2:4] 'coordlog' using 1:col with lines title columnheader

4
LibSidServo/PID_test.deprecated/plotacc Executable file
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@ -0,0 +1,4 @@
#!/usr/bin/gnuplot
plot 'coords' using 1:5 with lines title columnheader
pause mouse

4
LibSidServo/PID_test.deprecated/ploterr Executable file
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@ -0,0 +1,4 @@
#!/usr/bin/gnuplot
plot 'coords' using 1:6 with lines title columnheader
pause mouse

6
LibSidServo/PID_test.deprecated/ploterr.cont Executable file
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@ -0,0 +1,6 @@
#!/usr/bin/gnuplot
while(1){
plot 'coords' using 1:6 with lines title columnheader
pause 1
}

5
LibSidServo/PID_test.deprecated/ploterr_jpg Executable file
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@ -0,0 +1,5 @@
#!/usr/bin/gnuplot
set term jpeg size 1000,500
set output "error.jpg"
plot 'coords' using 1:6 with lines title columnheader

64
LibSidServo/PID_test/PID.c Normal file
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@ -0,0 +1,64 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <strings.h>
#include <usefull_macros.h>
#include "PID.h"
PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz){
if(!gain || Iarrsz < 3) return NULL;
PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
pid->gain = *gain;
pid->pidIarrSize = Iarrsz;
pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
return pid;
}
void pid_clear(PIDController_t *pid){
if(!pid) return;
DBG("CLEAR PID PARAMETERS");
bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
pid->integral = 0.;
pid->prev_error = 0.;
pid->curIidx = 0;
}
void pid_delete(PIDController_t **pid){
if(!pid || !*pid) return;
if((*pid)->pidIarray) free((*pid)->pidIarray);
free(*pid);
*pid = NULL;
}
double pid_calculate(PIDController_t *pid, double error, double dt){
// calculate flowing integral
double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
DBG("oldi/new: %g, %g", oldi, newi);
pid->pidIarray[pid->curIidx++] = newi;
if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
pid->integral += newi - oldi;
double derivative = (error - pid->prev_error) / dt;
pid->prev_error = error;
double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
return sum;
}

39
LibSidServo/PID_test/PID.h Normal file
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@ -0,0 +1,39 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stddef.h>
typedef struct{
double P, I, D;
} PIDpar_t;
typedef struct {
PIDpar_t gain; // PID gains
double prev_error; // Previous error
double integral; // Integral term
double *pidIarray; // array for Integral
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController_t;
PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz);
void pid_clear(PIDController_t *pid);
void pid_delete(PIDController_t **pid);
double pid_calculate(PIDController_t *pid, double error, double dt);

145
LibSidServo/PID_test/main.c
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@ -22,13 +22,18 @@
#include <usefull_macros.h> #include <usefull_macros.h>
#include "moving.h" #include "moving.h"
#include "PID.h"
// errors for states: slewing/pointing/guiding // errors for states: slewing/pointing/guiding
#define MAX_POINTING_ERR (50.) // 10-degrees zone - Coordinate-driven PID
#define MAX_GUIDING_ERR (5.) #define MAX_POINTING_ERR (36000.)
// 1-arcminute zone - Velocity-dtiven PID
#define MAX_GUIDING_ERR (60.)
// timeout to "forget" old data from I sum array; seconds // timeout to "forget" old data from I sum array; seconds
#define PID_I_PERIOD (3.) #define PID_I_PERIOD (3.)
// PID for coordinate-driven and velocity-driven parts
static PIDController_t *pidC = NULL, *pidV = NULL;
static movemodel_t *model = NULL; static movemodel_t *model = NULL;
static FILE *coordslog = NULL; static FILE *coordslog = NULL;
@ -48,93 +53,64 @@ typedef struct{
double dTcorr; double dTcorr;
double Tend; double Tend;
double minerr; double minerr;
double P, I, D; double startcoord;
double error;
PIDpar_t gainC, gainV;
} pars; } pars;
static pars G = { static pars G = {
.ramptype = "t",
.dTmon = 0.01, .dTmon = 0.01,
.dTcorr = 0.05, .dTcorr = 0.05,
.Tend = 100., .Tend = 100.,
.minerr = 0.1, .minerr = 0.1,
.P = 0.8, .gainC.P = 0.1,
.gainV.P = 0.1,
.startcoord = 100.,
}; };
static limits_t limits = { static limits_t limits = {
.min = {.coord = -1e6, .speed = 0.01, .accel = 0.1}, .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
.max = {.coord = 1e6, .speed = 1e3, .accel = 500.}, .max = {.coord = 6648000, .speed = 36000., .accel = 36000.}
.jerk = 10.
}; };
typedef struct {
double kp, ki, kd; // PID gains
double prev_error; // Previous error
double integral; // Integral term
double *pidIarray; // array for Integral
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController;
static PIDController pid;
static sl_option_t opts[] = { static sl_option_t opts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"}, {"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"ramp", NEED_ARG, NULL, 'r', arg_string, APTR(&G.ramptype), "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
{"tmon", NEED_ARG, NULL, 'T', arg_double, APTR(&G.dTmon), "time interval for monitoring (seconds, default: 0.001)"}, {"tmon", NEED_ARG, NULL, 'T', arg_double, APTR(&G.dTmon), "time interval for monitoring (seconds, default: 0.001)"},
{"tcor", NEED_ARG, NULL, 't', arg_double, APTR(&G.dTcorr), "time interval for corrections (seconds, default: 0.05)"}, {"tcor", NEED_ARG, NULL, 't', arg_double, APTR(&G.dTcorr), "time interval for corrections (seconds, default: 0.05)"},
{"xlog", NEED_ARG, NULL, 'l', arg_string, APTR(&G.xlog), "log file name for coordinates logging"}, {"xlog", NEED_ARG, NULL, 'l', arg_string, APTR(&G.xlog), "log file name for coordinates logging"},
{"tend", NEED_ARG, NULL, 'e', arg_double, APTR(&G.Tend), "end time of monitoring (seconds, default: 100)"}, {"tend", NEED_ARG, NULL, 'e', arg_double, APTR(&G.Tend), "end time of monitoring (seconds, default: 100)"},
{"minerr", NEED_ARG, NULL, 'm', arg_double, APTR(&G.minerr), "minimal error for corrections (units, default: 0.1)"}, {"minerr", NEED_ARG, NULL, 'm', arg_double, APTR(&G.minerr), "minimal error for corrections (units, default: 0.1)"},
{"prop", NEED_ARG, NULL, 'P', arg_double, APTR(&G.P), "P-coefficient of PID"}, {"propC", NEED_ARG, NULL, 'P', arg_double, APTR(&G.gainC.P), "P-coefficient of coordinate-driven PID"},
{"integ", NEED_ARG, NULL, 'I', arg_double, APTR(&G.I), "I-coefficient of PID"}, {"integC", NEED_ARG, NULL, 'I', arg_double, APTR(&G.gainC.I), "I-coefficient of coordinate-driven PID"},
{"diff", NEED_ARG, NULL, 'D', arg_double, APTR(&G.D), "D-coefficient of PID"}, {"diffC", NEED_ARG, NULL, 'D', arg_double, APTR(&G.gainC.D), "D-coefficient of coordinate-driven PID"},
{"propV", NEED_ARG, NULL, 'p', arg_double, APTR(&G.gainV.P), "P-coefficient of velocity-driven PID"},
{"integV", NEED_ARG, NULL, 'i', arg_double, APTR(&G.gainV.I), "I-coefficient of velocity-driven PID"},
{"diffV", NEED_ARG, NULL, 'd', arg_double, APTR(&G.gainV.D), "D-coefficient of velocity-driven PID"},
{"xstart", NEED_ARG, NULL, '0', arg_double, APTR(&G.startcoord), "starting coordinate of target"},
{"error", NEED_ARG, NULL, 'E', arg_double, APTR(&G.error), "error range"},
// TODO: add parameters for limits setting // TODO: add parameters for limits setting
end_option end_option
}; };
// calculate coordinate target for given time (starting from zero) // calculate coordinate target for given time (starting from zero)
static double target_coord(double t){ static double target_coord(double t){
if(t > 20. && t < 30.) return target_coord(20.); if(t > 20. && t < 30.) return 0.;
double pos = 150. + 10. * sin(M_2_PI * t / 10.) + 0.02 * (drand48() - 0.5); //double pos = G.startcoord + 15. * t + G.error * (drand48() - 0.5);
double pos = G.startcoord + 15. * sin(2*M_PI * t / 10.) + G.error * (drand48() - 0.5);
return pos; return pos;
} }
/* P-only == oscillations
static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
double error = targcoord - p->coord;
if(fabs(error) < G.minerr) return p->speed;
return p->speed + error / dt / 500.;
}
*/
static void pid_init(PIDController *pid, double kp, double ki, double kd) {
pid->kp = fabs(kp);
pid->ki = fabs(ki);
pid->kd = fabs(kd);
pid->prev_error = 0.;
pid->integral = 0.;
pid->curIidx = 0;
pid->pidIarrSize = PID_I_PERIOD / G.dTcorr;
if(pid->pidIarrSize < 2) ERRX("I-array for PID have less than 2 elements");
pid->pidIarray = MALLOC(double, pid->pidIarrSize);
}
static void pid_clear(PIDController *pid){
if(!pid) return;
bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
pid->integral = 0.;
pid->prev_error = 0.;
pid->curIidx = 0;
}
static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){ static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
double error = targcoord - p->coord, fe = fabs(error); double error = targcoord - p->coord, fe = fabs(error);
PIDController_t *pid = NULL;
switch(state){ switch(state){
case Slewing: case Slewing:
if(fe < MAX_POINTING_ERR){ if(fe < MAX_POINTING_ERR){
pid_clear(&pid); pid_clear(pidC);
state = Pointing; state = Pointing;
green("--> Pointing\n"); green("--> Pointing\n");
pid = pidC;
}else{ }else{
red("Slewing...\n"); red("Slewing...\n");
return (error > 0.) ? limits.max.speed : -limits.max.speed; return (error > 0.) ? limits.max.speed : -limits.max.speed;
@ -142,54 +118,55 @@ static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
break; break;
case Pointing: case Pointing:
if(fe < MAX_GUIDING_ERR){ if(fe < MAX_GUIDING_ERR){
pid_clear(&pid); pid_clear(pidV);
state = Guiding; state = Guiding;
green("--> Guiding\n"); green("--> Guiding\n");
pid = pidV;
}else if(fe > MAX_POINTING_ERR){ }else if(fe > MAX_POINTING_ERR){
red("--> Slewing\n"); red("--> Slewing\n");
state = Slewing; state = Slewing;
return (error > 0.) ? limits.max.speed : -limits.max.speed; return (error > 0.) ? limits.max.speed : -limits.max.speed;
} } else pid = pidC;
break; break;
case Guiding: case Guiding:
pid= pidV;
if(fe > MAX_GUIDING_ERR){ if(fe > MAX_GUIDING_ERR){
red("--> Pointing\n"); red("--> Pointing\n");
state = Pointing; state = Pointing;
pid_clear(pidC);
pid = pidC;
}else if(fe < G.minerr){ }else if(fe < G.minerr){
green("At target\n"); green("At target\n");
//pid_clear(&pid); }else printf("Current error: %g\n", fe);
//return p->speed;
}
break; break;
} }
if(!pid){
red("Calculate PID\n"); WARNX("where is PID?"); return p->speed;
double oldi = pid.pidIarray[pid.curIidx], newi = error * dt;
pid.pidIarray[pid.curIidx++] = oldi;
if(pid.curIidx >= pid.pidIarrSize) pid.curIidx = 0;
pid.integral += newi - oldi;
double derivative = (error - pid.prev_error) / dt;
pid.prev_error = error;
DBG("P=%g, I=%g, D=%g", pid.kp * error, pid.integral, derivative);
double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative);
if(state == Pointing) add /= 3.;
else if(state == Guiding) add /= 7.;
DBG("ADD = %g; new speed = %g", add, p->speed + add);
if(state == Guiding) return p->speed + add / dt / 10.;
return add / dt;
} }
// ./moving -l coords -P.5 -I.05 -D1.5 double tagspeed = pid_calculate(pid, error, dt);
// ./moving -l coords -P1.3 -D1.6 if(state == Guiding) return p->speed + tagspeed;
return tagspeed;
}
// -P0.8 -D0.1 -I0.02 -p20 -d.5 -i.02
// another: P0.8 -D0.1 -I0.02 -p5 -d0.9 -i0.1
static void start_model(double Tend){ static void start_model(double Tend){
double T = 0., Tcorr = 0.;//, Tlast = 0.; double T = 0., Tcorr = 0.;
moveparam_t target; moveparam_t target;
uint64_t N = 0;
double errmax = 0., errsum = 0., errsum2 = 0.;
while(T <= Tend){ while(T <= Tend){
moveparam_t p; moveparam_t p;
movestate_t st = model->get_state(&p); movestate_t st = model->get_state(&p);
if(st == ST_MOVE) st = model->proc_move(&p, T); if(st == ST_MOVE) st = model->proc_move(&p, T);
double nextcoord = target_coord(T); double nextcoord = target_coord(T);
double error = nextcoord - p.coord; double error = nextcoord - p.coord;
if(state == Guiding){
double ae = fabs(error);
if(ae > errmax) errmax = ae;
errsum += error; errsum2 += error * error;
++N;
}
if(T - Tcorr >= G.dTcorr){ // check correction if(T - Tcorr >= G.dTcorr){ // check correction
double speed = getNewSpeed(&p, nextcoord, T - Tcorr); double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5; target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
@ -215,6 +192,9 @@ static void start_model(double Tend){
T, nextcoord, p.coord, p.speed, p.accel, error); T, nextcoord, p.coord, p.speed, p.accel, error);
T += G.dTmon; T += G.dTmon;
} }
printf("\n\n\n"); red("Calculated errors in `guiding` mode:\n");
double mean = errsum / (double)N;
printf("max error: %g, mean error: %g, std: %g\n\n", errmax, mean, sqrt(errsum2/(double)N - mean*mean));
} }
int main(int argc, char **argv){ int main(int argc, char **argv){
@ -228,16 +208,15 @@ int main(int argc, char **argv){
if(G.dTmon <= 0.) ERRX("tmon should be > 0."); if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1."); if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
if(G.Tend <= 0.) ERRX("tend should be > 0."); if(G.Tend <= 0.) ERRX("tend should be > 0.");
pid_init(&pid, G.P, G.I, G.D); pidC = pid_create(&G.gainC, PID_I_PERIOD / G.dTcorr);
fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error"); pidV = pid_create(&G.gainV, PID_I_PERIOD / G.dTcorr);
ramptype_t ramp = RAMP_AMOUNT; if(!pidC || !pidV) ERRX("Can't init PID regulators");
if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB; model = init_moving(&limits);
else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
model = init_moving(ramp, &limits);
if(!model) ERRX("Can't init moving model: check parameters"); if(!model) ERRX("Can't init moving model: check parameters");
fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
start_model(G.Tend); start_model(G.Tend);
pid_delete(&pidC);
pid_delete(&pidV);
fclose(coordslog); fclose(coordslog);
return 0; return 0;
} }

20
LibSidServo/PID_test/moving.c
View File

@ -24,12 +24,9 @@
#include "moving.h" #include "moving.h"
#include "moving_private.h" #include "moving_private.h"
#include "Dramp.h"
#include "Sramp.h"
#include "Tramp.h" #include "Tramp.h"
//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; static movemodel_t *model = &trapez;
static movemodel_t *model = NULL;
double coord_tolerance = COORD_TOLERANCE_DEFAULT; double coord_tolerance = COORD_TOLERANCE_DEFAULT;
double time_tick = TIME_TICK_DEFAULT; double time_tick = TIME_TICK_DEFAULT;
@ -56,21 +53,8 @@ static void chkminmax(double *min, double *max){
*max = t; *max = t;
} }
movemodel_t *init_moving(ramptype_t type, limits_t *l){ movemodel_t *init_moving(limits_t *l){
if(!l) return FALSE; if(!l) return FALSE;
switch(type){
case RAMP_DUMB:
model = &dumb;
break;
case RAMP_TRAPEZIUM:
model = &trapez;
break;
case RAMP_S:
model = &s_shaped;
break;
default:
return FALSE;
}
if(!model->init_limits) return NULL; if(!model->init_limits) return NULL;
moveparam_t *max = &l->max, *min = &l->min; moveparam_t *max = &l->max, *min = &l->min;
if(min->speed < 0.) min->speed = -min->speed; if(min->speed < 0.) min->speed = -min->speed;

10
LibSidServo/PID_test/moving.h
View File

@ -26,13 +26,6 @@
#define TIME_TICK_MIN (1e-9) #define TIME_TICK_MIN (1e-9)
#define TIME_TICK_MAX (10.) #define TIME_TICK_MAX (10.)
typedef enum{
RAMP_DUMB, // no ramp: infinite acceleration/deceleration
RAMP_TRAPEZIUM, // trapezium ramp
RAMP_S, // s-shaped ramp
RAMP_AMOUNT
} ramptype_t;
typedef enum{ typedef enum{
ST_STOP, // stopped ST_STOP, // stopped
ST_MOVE, // moving ST_MOVE, // moving
@ -48,7 +41,6 @@ typedef struct{ // all values could be both as positive and negative
typedef struct{ typedef struct{
moveparam_t min; moveparam_t min;
moveparam_t max; moveparam_t max;
double jerk;
} limits_t; } limits_t;
typedef struct{ typedef struct{
@ -64,7 +56,7 @@ typedef struct{
extern double coord_tolerance; extern double coord_tolerance;
double nanot(); double nanot();
movemodel_t *init_moving(ramptype_t type, limits_t *l); movemodel_t *init_moving(limits_t *l);
int init_coordtol(double tolerance); int init_coordtol(double tolerance);
int init_timetick(double tick); int init_timetick(double tick);
int move_to(moveparam_t *target, double t); int move_to(moveparam_t *target, double t);

2
LibSidServo/PID_test/moving_model.files
View File

@ -1,5 +1,7 @@
Dramp.c Dramp.c
Dramp.h Dramp.h
PID.c
PID.h
Sramp.c Sramp.c
Sramp.h Sramp.h
Tramp.c Tramp.c