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add PID_test @ model

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Edward V. Emelianov 2025-07-25 15:57:44 +03:00
parent 4ef6f2f6f9
commit 7363d608ea
25 changed files with 1319 additions and 0 deletions
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141
LibSidServo/PID_test/Dramp.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 <usefull_macros.h>
#include "Dramp.h"
static movestate_t state = ST_STOP;
static moveparam_t target, Min, Max;
static double T0 = -1., Xlast0; // time when move starts, last stage starting coordinate
static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
static double T1 = -1.; // time to switch into minimal speed for best coord tolerance
typedef enum{
STAGE_NORMALSPEED,
STAGE_MINSPEED,
STAGE_STOPPED
} movingsage_t;
static movingsage_t movingstage = STAGE_STOPPED;
static int initlims(limits_t *lim){
if(!lim) return FALSE;
Min = lim->min;
Max = lim->max;
return TRUE;
}
static int calc(moveparam_t *x, double t){
DBG("target: %g, tagspeed: %g (maxspeed: %g, minspeed: %g)", x->coord, x->speed, Max.speed, Min.speed);
if(!x || t < 0.) return FALSE;
if(x->speed > Max.speed || x->speed < Min.speed || x->coord < Min.coord || x->coord > Max.coord) return FALSE;
double adist = fabs(x->coord - curparams.coord);
DBG("want dist: %g", adist);
if(adist < coord_tolerance) return TRUE; // we are at place
if(adist < time_tick * Min.speed) return FALSE; // cannot reach with current parameters
target = *x;
if(x->speed * time_tick > adist) target.speed = adist / (10. * time_tick); // take at least 10 ticks to reach position
if(target.speed < Min.speed) target.speed = Min.speed;
DBG("Approximate tag speed: %g", target.speed);
T0 = t;
// calculate time to switch into minimal speed
T1 = -1.; // no min speed phase
if(target.speed > Min.speed){
double dxpertick = target.speed * time_tick;
DBG("dX per one tick: %g", dxpertick);
double ticks_need = floor(adist / dxpertick);
DBG("ticks need: %g", ticks_need);
if(ticks_need < 1.) return FALSE; // cannot reach
if(fabs(ticks_need * dxpertick - adist) > coord_tolerance){
DBG("Need to calculate slow phase; can't reach for %g ticks at current speed", ticks_need);
double dxpersmtick = Min.speed * time_tick;
DBG("dX per smallest tick: %g", dxpersmtick);
while(--ticks_need > 1.){
double part = adist - ticks_need * dxpertick;
double smticks = floor(part / dxpersmtick);
double least = part - smticks * dxpersmtick;
if(least < coord_tolerance) break;
}
DBG("now BIG ticks: %g, T1=T0+%g", ticks_need, ticks_need*time_tick);
T1 = t + ticks_need * time_tick;
}
}
state = ST_MOVE;
Xlast0 = curparams.coord;
if(target.speed > Min.speed) movingstage = STAGE_NORMALSPEED;
else movingstage = STAGE_MINSPEED;
if(x->coord < curparams.coord) target.speed *= -1.; // real speed
curparams.speed = target.speed;
return TRUE;
}
static void stop(double _U_ t){
T0 = -1.;
curparams.accel = 0.;
curparams.speed = 0.;
state = ST_STOP;
movingstage = STAGE_STOPPED;
}
static movestate_t proc(moveparam_t *next, double t){
if(T0 < 0.) return ST_STOP;
curparams.coord = Xlast0 + (t - T0) * curparams.speed;
//DBG("coord: %g (dTmon: %g, speed: %g)", curparams.coord, t-T0, curparams.speed);
int ooops = FALSE; // oops - we are over target!
if(curparams.speed < 0.){ if(curparams.coord < target.coord) ooops = TRUE;}
else{ if(curparams.coord > target.coord) ooops = TRUE; }
if(ooops){
DBG("OOOps! We are (%g) over target (%g) -> stop", curparams.coord, target.coord);
stop(t);
if(next) *next = curparams;
return state;
}
if(movingstage == STAGE_NORMALSPEED && T1 > 0.){ // check need of T1
if(t >= T1){
DBG("T1=%g, t=%g -->", T1, t);
curparams.speed = (curparams.speed > 0.) ? Min.speed : -Min.speed;
movingstage = STAGE_MINSPEED;
Xlast0 = curparams.coord;
T0 = T1;
DBG("Go further with minimal speed");
}
}
if(fabs(curparams.coord - target.coord) < coord_tolerance){ // we are at place
DBG("OK, we are in place");
stop(t);
}
if(next) *next = curparams;
return state;
}
static movestate_t getst(moveparam_t *cur){
if(cur) *cur = curparams;
return state;
}
movemodel_t dumb = {
.init_limits = initlims,
.calculate = calc,
.proc_move = proc,
.stop = stop,
.emergency_stop = stop,
.get_state = getst,
};

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LibSidServo/PID_test/Dramp.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 dumb;

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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

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LibSidServo/PID_test/Sramp.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/>.
*/
// quasi non-jerk s-ramp
#include <stdio.h>
#include <usefull_macros.h>
#include "Sramp.h"
movemodel_t s_shaped = { 0 };

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LibSidServo/PID_test/Sramp.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 s_shaped;

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LibSidServo/PID_test/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/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/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 <usefull_macros.h>
#include "moving.h"
#define MAX_GUIDING_ERR (5.)
static movemodel_t *model = NULL;
static FILE *coordslog = NULL;
typedef enum{
Pointing,
Guiding
} state_t;
static state_t state = Pointing;
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
} 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 = 5. + 10. * sin(M_2_PI * t / 10.) + 0.2 * (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.;
}
static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
double error = targcoord - p->coord, fe = fabs(error);
if(state == Pointing){
if(fe < MAX_GUIDING_ERR) state = Guiding;
return (error > 0.) ? limits.max.speed : -limits.max.speed;
}else if(fe < G.minerr) return p->speed;
pid.integral += error * dt;
double derivative = (error - pid.prev_error) / dt;
pid.prev_error = error;
DBG("I=%g", pid.integral);
double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative) / dt / 1000.;
DBG("ADD = %g; new speed = %g", add, p->speed + add);
return p->speed + add;
}
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.) ERRX("tcor should be > 0.");
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/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]

185
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1
LibSidServo/PID_test/moving_model.cxxflags Normal file
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@ -0,0 +1 @@
-std=c++17

10
LibSidServo/PID_test/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/moving_model.includes Normal file
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26
LibSidServo/PID_test/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/plot Executable file
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#!/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/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
}

5
LibSidServo/PID_test/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/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/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/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
}