PID test almost in ssii format
This commit is contained in:
parent
c862d160fe
commit
502014bee4
57
LibSidServo/PID_test.deprecated/Makefile
Normal file
57
LibSidServo/PID_test.deprecated/Makefile
Normal file
@ -0,0 +1,57 @@
|
||||
# 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
|
||||
223
LibSidServo/PID_test.deprecated/Tramp.c
Normal file
223
LibSidServo/PID_test.deprecated/Tramp.c
Normal file
@ -0,0 +1,223 @@
|
||||
/*
|
||||
* 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,
|
||||
};
|
||||
23
LibSidServo/PID_test.deprecated/Tramp.h
Normal file
23
LibSidServo/PID_test.deprecated/Tramp.h
Normal file
@ -0,0 +1,23 @@
|
||||
/*
|
||||
* 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;
|
||||
243
LibSidServo/PID_test.deprecated/main.c
Normal file
243
LibSidServo/PID_test.deprecated/main.c
Normal file
@ -0,0 +1,243 @@
|
||||
/*
|
||||
* 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;
|
||||
}
|
||||
105
LibSidServo/PID_test.deprecated/moving.c
Normal file
105
LibSidServo/PID_test.deprecated/moving.c
Normal file
@ -0,0 +1,105 @@
|
||||
/*
|
||||
* 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;
|
||||
}
|
||||
70
LibSidServo/PID_test.deprecated/moving.h
Normal file
70
LibSidServo/PID_test.deprecated/moving.h
Normal file
@ -0,0 +1,70 @@
|
||||
/*
|
||||
* 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);
|
||||
1
LibSidServo/PID_test.deprecated/moving_model.cflags
Normal file
1
LibSidServo/PID_test.deprecated/moving_model.cflags
Normal file
@ -0,0 +1 @@
|
||||
-std=c17
|
||||
4
LibSidServo/PID_test.deprecated/moving_model.config
Normal file
4
LibSidServo/PID_test.deprecated/moving_model.config
Normal file
@ -0,0 +1,4 @@
|
||||
// Add predefined macros for your project here. For example:
|
||||
// #define THE_ANSWER 42
|
||||
#define _XOPEN_SOURCE 666
|
||||
#define EBUG
|
||||
1
LibSidServo/PID_test.deprecated/moving_model.creator
Normal file
1
LibSidServo/PID_test.deprecated/moving_model.creator
Normal file
@ -0,0 +1 @@
|
||||
[General]
|
||||
221
LibSidServo/PID_test.deprecated/moving_model.creator.user
Normal file
221
LibSidServo/PID_test.deprecated/moving_model.creator.user
Normal file
@ -0,0 +1,221 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE QtCreatorProject>
|
||||
<!-- Written by QtCreator 17.0.0, 2025-07-29T13:32:31. -->
|
||||
<qtcreator>
|
||||
<data>
|
||||
<variable>EnvironmentId</variable>
|
||||
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.ActiveTarget</variable>
|
||||
<value type="qlonglong">0</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.EditorSettings</variable>
|
||||
<valuemap type="QVariantMap">
|
||||
<value type="bool" key="EditorConfiguration.AutoDetect">true</value>
|
||||
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
|
||||
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
|
||||
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
|
||||
<value type="QString" key="language">Cpp</value>
|
||||
<valuemap type="QVariantMap" key="value">
|
||||
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
|
||||
</valuemap>
|
||||
</valuemap>
|
||||
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
|
||||
<value type="QString" key="language">QmlJS</value>
|
||||
<valuemap type="QVariantMap" key="value">
|
||||
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
|
||||
</valuemap>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
|
||||
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
|
||||
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
|
||||
<value type="int" key="EditorConfiguration.IndentSize">4</value>
|
||||
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
|
||||
<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
|
||||
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
|
||||
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
|
||||
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
|
||||
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
|
||||
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
|
||||
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
|
||||
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
|
||||
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
|
||||
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
|
||||
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
|
||||
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
|
||||
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
|
||||
<value type="int" key="EditorConfiguration.TabSize">8</value>
|
||||
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
|
||||
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
|
||||
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
|
||||
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
|
||||
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
|
||||
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
|
||||
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
|
||||
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
|
||||
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
|
||||
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.PluginSettings</variable>
|
||||
<valuemap type="QVariantMap">
|
||||
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
|
||||
<value type="bool" key="AutoTest.Framework.Boost">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.CTest">false</value>
|
||||
<value type="bool" key="AutoTest.Framework.Catch">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.GTest">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.QtTest">true</value>
|
||||
</valuemap>
|
||||
<value type="bool" key="AutoTest.ApplyFilter">false</value>
|
||||
<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
|
||||
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
|
||||
<value type="int" key="AutoTest.RunAfterBuild">0</value>
|
||||
<value type="bool" key="AutoTest.UseGlobal">true</value>
|
||||
<valuemap type="QVariantMap" key="ClangTools">
|
||||
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
|
||||
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
|
||||
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
|
||||
<value type="int" key="ClangTools.ParallelJobs">1</value>
|
||||
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
|
||||
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
|
||||
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
|
||||
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
|
||||
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
|
||||
</valuemap>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.Target.0</variable>
|
||||
<valuemap type="QVariantMap">
|
||||
<value type="QString" key="DeviceType">Desktop</value>
|
||||
<value type="bool" key="HasPerBcDcs">true</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
|
||||
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/C-files/mountcontrol.git/moving_model</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||
<value type="QString">all</value>
|
||||
</valuelist>
|
||||
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
|
||||
</valuemap>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||
<value type="QString">clean</value>
|
||||
</valuelist>
|
||||
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
|
||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
|
||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
|
||||
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.ShowReachable">true</value>
|
||||
<value type="QList<int>" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
|
||||
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
|
||||
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
|
||||
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
|
||||
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
|
||||
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.ShowReachable">true</value>
|
||||
<value type="QList<int>" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
|
||||
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
|
||||
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
|
||||
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
|
||||
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.TargetCount</variable>
|
||||
<value type="qlonglong">1</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
|
||||
<value type="int">22</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>Version</variable>
|
||||
<value type="int">22</value>
|
||||
</data>
|
||||
</qtcreator>
|
||||
@ -0,0 +1,184 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE QtCreatorProject>
|
||||
<!-- Written by QtCreator 16.0.0, 2025-03-18T22:08:04. -->
|
||||
<qtcreator>
|
||||
<data>
|
||||
<variable>EnvironmentId</variable>
|
||||
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.ActiveTarget</variable>
|
||||
<value type="qlonglong">0</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.EditorSettings</variable>
|
||||
<valuemap type="QVariantMap">
|
||||
<value type="bool" key="EditorConfiguration.AutoDetect">true</value>
|
||||
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
|
||||
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
|
||||
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
|
||||
<value type="QString" key="language">Cpp</value>
|
||||
<valuemap type="QVariantMap" key="value">
|
||||
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
|
||||
</valuemap>
|
||||
</valuemap>
|
||||
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
|
||||
<value type="QString" key="language">QmlJS</value>
|
||||
<valuemap type="QVariantMap" key="value">
|
||||
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
|
||||
</valuemap>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
|
||||
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
|
||||
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
|
||||
<value type="int" key="EditorConfiguration.IndentSize">4</value>
|
||||
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
|
||||
<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
|
||||
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
|
||||
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
|
||||
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
|
||||
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
|
||||
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
|
||||
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
|
||||
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
|
||||
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
|
||||
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
|
||||
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
|
||||
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
|
||||
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
|
||||
<value type="int" key="EditorConfiguration.TabSize">8</value>
|
||||
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
|
||||
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
|
||||
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
|
||||
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
|
||||
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
|
||||
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
|
||||
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
|
||||
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
|
||||
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
|
||||
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.PluginSettings</variable>
|
||||
<valuemap type="QVariantMap">
|
||||
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
|
||||
<value type="bool" key="AutoTest.Framework.Boost">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.CTest">false</value>
|
||||
<value type="bool" key="AutoTest.Framework.Catch">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.GTest">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
|
||||
<value type="bool" key="AutoTest.Framework.QtTest">true</value>
|
||||
</valuemap>
|
||||
<value type="bool" key="AutoTest.ApplyFilter">false</value>
|
||||
<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
|
||||
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
|
||||
<value type="int" key="AutoTest.RunAfterBuild">0</value>
|
||||
<value type="bool" key="AutoTest.UseGlobal">true</value>
|
||||
<valuemap type="QVariantMap" key="ClangTools">
|
||||
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
|
||||
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
|
||||
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
|
||||
<value type="int" key="ClangTools.ParallelJobs">8</value>
|
||||
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
|
||||
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
|
||||
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
|
||||
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
|
||||
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
|
||||
</valuemap>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.Target.0</variable>
|
||||
<valuemap type="QVariantMap">
|
||||
<value type="QString" key="DeviceType">Desktop</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
|
||||
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Small_tel/moving_model</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||
<value type="QString">all</value>
|
||||
</valuelist>
|
||||
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
|
||||
</valuemap>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||
<value type="QString">clean</value>
|
||||
</valuelist>
|
||||
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
|
||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
|
||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
|
||||
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||
<value type="QList<int>" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
|
||||
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
|
||||
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
|
||||
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
|
||||
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||
</valuemap>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.TargetCount</variable>
|
||||
<value type="qlonglong">1</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
|
||||
<value type="int">22</value>
|
||||
</data>
|
||||
<data>
|
||||
<variable>Version</variable>
|
||||
<value type="int">22</value>
|
||||
</data>
|
||||
</qtcreator>
|
||||
1
LibSidServo/PID_test.deprecated/moving_model.cxxflags
Normal file
1
LibSidServo/PID_test.deprecated/moving_model.cxxflags
Normal file
@ -0,0 +1 @@
|
||||
-std=c++17
|
||||
10
LibSidServo/PID_test.deprecated/moving_model.files
Normal file
10
LibSidServo/PID_test.deprecated/moving_model.files
Normal file
@ -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
|
||||
26
LibSidServo/PID_test.deprecated/moving_private.h
Normal file
26
LibSidServo/PID_test.deprecated/moving_private.h
Normal file
@ -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
4
LibSidServo/PID_test.deprecated/plot
Executable file
@ -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
8
LibSidServo/PID_test.deprecated/plot.cont
Executable file
@ -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
6
LibSidServo/PID_test.deprecated/plot_jpg
Executable file
@ -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
5
LibSidServo/PID_test.deprecated/plot_pdf
Executable file
@ -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
4
LibSidServo/PID_test.deprecated/plotacc
Executable file
@ -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
4
LibSidServo/PID_test.deprecated/ploterr
Executable file
@ -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
6
LibSidServo/PID_test.deprecated/ploterr.cont
Executable file
@ -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
5
LibSidServo/PID_test.deprecated/ploterr_jpg
Executable file
@ -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
64
LibSidServo/PID_test/PID.c
Normal file
@ -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
39
LibSidServo/PID_test/PID.h
Normal file
@ -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);
|
||||
@ -22,13 +22,18 @@
|
||||
#include <usefull_macros.h>
|
||||
|
||||
#include "moving.h"
|
||||
#include "PID.h"
|
||||
|
||||
// errors for states: slewing/pointing/guiding
|
||||
#define MAX_POINTING_ERR (50.)
|
||||
#define MAX_GUIDING_ERR (5.)
|
||||
// 10-degrees zone - Coordinate-driven PID
|
||||
#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
|
||||
#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 FILE *coordslog = NULL;
|
||||
|
||||
@ -48,93 +53,64 @@ typedef struct{
|
||||
double dTcorr;
|
||||
double Tend;
|
||||
double minerr;
|
||||
double P, I, D;
|
||||
double startcoord;
|
||||
double error;
|
||||
PIDpar_t gainC, gainV;
|
||||
} pars;
|
||||
|
||||
static pars G = {
|
||||
.ramptype = "t",
|
||||
.dTmon = 0.01,
|
||||
.dTcorr = 0.05,
|
||||
.Tend = 100.,
|
||||
.minerr = 0.1,
|
||||
.P = 0.8,
|
||||
.gainC.P = 0.1,
|
||||
.gainV.P = 0.1,
|
||||
.startcoord = 100.,
|
||||
};
|
||||
|
||||
static limits_t limits = {
|
||||
.min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
|
||||
.max = {.coord = 1e6, .speed = 1e3, .accel = 500.},
|
||||
.jerk = 10.
|
||||
.max = {.coord = 6648000, .speed = 36000., .accel = 36000.}
|
||||
};
|
||||
|
||||
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"},
|
||||
{"propC", NEED_ARG, NULL, 'P', arg_double, APTR(&G.gainC.P), "P-coefficient of coordinate-driven PID"},
|
||||
{"integC", NEED_ARG, NULL, 'I', arg_double, APTR(&G.gainC.I), "I-coefficient of coordinate-driven 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
|
||||
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);
|
||||
if(t > 20. && t < 30.) return 0.;
|
||||
//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;
|
||||
}
|
||||
|
||||
/* 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);
|
||||
PIDController_t *pid = NULL;
|
||||
switch(state){
|
||||
case Slewing:
|
||||
if(fe < MAX_POINTING_ERR){
|
||||
pid_clear(&pid);
|
||||
pid_clear(pidC);
|
||||
state = Pointing;
|
||||
green("--> Pointing\n");
|
||||
pid = pidC;
|
||||
}else{
|
||||
red("Slewing...\n");
|
||||
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;
|
||||
case Pointing:
|
||||
if(fe < MAX_GUIDING_ERR){
|
||||
pid_clear(&pid);
|
||||
pid_clear(pidV);
|
||||
state = Guiding;
|
||||
green("--> Guiding\n");
|
||||
pid = pidV;
|
||||
}else if(fe > MAX_POINTING_ERR){
|
||||
red("--> Slewing\n");
|
||||
state = Slewing;
|
||||
return (error > 0.) ? limits.max.speed : -limits.max.speed;
|
||||
}
|
||||
} else pid = pidC;
|
||||
break;
|
||||
case Guiding:
|
||||
pid= pidV;
|
||||
if(fe > MAX_GUIDING_ERR){
|
||||
red("--> Pointing\n");
|
||||
state = Pointing;
|
||||
pid_clear(pidC);
|
||||
pid = pidC;
|
||||
}else if(fe < G.minerr){
|
||||
green("At target\n");
|
||||
//pid_clear(&pid);
|
||||
//return p->speed;
|
||||
}
|
||||
}else printf("Current error: %g\n", fe);
|
||||
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;
|
||||
if(!pid){
|
||||
WARNX("where is PID?"); return p->speed;
|
||||
}
|
||||
double tagspeed = pid_calculate(pid, error, dt);
|
||||
if(state == Guiding) return p->speed + tagspeed;
|
||||
return tagspeed;
|
||||
}
|
||||
// ./moving -l coords -P.5 -I.05 -D1.5
|
||||
// ./moving -l coords -P1.3 -D1.6
|
||||
// -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){
|
||||
double T = 0., Tcorr = 0.;//, Tlast = 0.;
|
||||
double T = 0., Tcorr = 0.;
|
||||
moveparam_t target;
|
||||
uint64_t N = 0;
|
||||
double errmax = 0., errsum = 0., errsum2 = 0.;
|
||||
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(state == Guiding){
|
||||
double ae = fabs(error);
|
||||
if(ae > errmax) errmax = ae;
|
||||
errsum += error; errsum2 += error * error;
|
||||
++N;
|
||||
}
|
||||
if(T - Tcorr >= G.dTcorr){ // check correction
|
||||
double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
|
||||
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 += 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){
|
||||
@ -228,16 +208,15 @@ int main(int argc, char **argv){
|
||||
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);
|
||||
pidC = pid_create(&G.gainC, PID_I_PERIOD / G.dTcorr);
|
||||
pidV = pid_create(&G.gainV, PID_I_PERIOD / G.dTcorr);
|
||||
if(!pidC || !pidV) ERRX("Can't init PID regulators");
|
||||
model = init_moving(&limits);
|
||||
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);
|
||||
pid_delete(&pidC);
|
||||
pid_delete(&pidV);
|
||||
fclose(coordslog);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -24,12 +24,9 @@
|
||||
|
||||
#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;
|
||||
static movemodel_t *model = &trapez;
|
||||
double coord_tolerance = COORD_TOLERANCE_DEFAULT;
|
||||
double time_tick = TIME_TICK_DEFAULT;
|
||||
|
||||
@ -56,21 +53,8 @@ static void chkminmax(double *min, double *max){
|
||||
*max = t;
|
||||
}
|
||||
|
||||
movemodel_t *init_moving(ramptype_t type, limits_t *l){
|
||||
movemodel_t *init_moving(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;
|
||||
|
||||
@ -26,13 +26,6 @@
|
||||
#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
|
||||
@ -48,7 +41,6 @@ typedef struct{ // all values could be both as positive and negative
|
||||
typedef struct{
|
||||
moveparam_t min;
|
||||
moveparam_t max;
|
||||
double jerk;
|
||||
} limits_t;
|
||||
|
||||
typedef struct{
|
||||
@ -64,7 +56,7 @@ typedef struct{
|
||||
extern double coord_tolerance;
|
||||
|
||||
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_timetick(double tick);
|
||||
int move_to(moveparam_t *target, double t);
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
Dramp.c
|
||||
Dramp.h
|
||||
PID.c
|
||||
PID.h
|
||||
Sramp.c
|
||||
Sramp.h
|
||||
Tramp.c
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user