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This commit is contained in:
Edward V. Emelianov
2025-03-02 22:50:18 +03:00
parent dfeca4c923
commit 9519202ce4
4 changed files with 132 additions and 35 deletions
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31
LibSidServo/ssii.h
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@@ -165,7 +165,8 @@
// X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
#define CMD_GETSTATTEXT "\r"
// Loop freq
#define SITECH_LOOP_FREQUENCY (1953.)
// steps per revolution
#define X_MOT_STEPSPERREV (3325952.)
@@ -176,24 +177,24 @@
#define Y_SPEED_MAX (0.13963)
// motor position to radians and back
#define X_MOT2RAD(n) (2.*M_PI * ((double)n) / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) (2.*M_PI * ((double)n) / Y_MOT_STEPSPERREV)
#define X_RAD2MOT(r) ((int32_t)((r) / 2./M_PI * X_MOT_STEPSPERREV))
#define Y_RAD2MOT(r) ((int32_t)((r) / 2./M_PI * Y_MOT_STEPSPERREV))
#define X_MOT2RAD(n) (2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) (2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
#define X_RAD2MOT(r) ((int32_t)((r) / (2. * M_PI) * X_MOT_STEPSPERREV))
#define Y_RAD2MOT(r) ((int32_t)((r) / (2. * M_PI) * Y_MOT_STEPSPERREV))
// motor speed in rad/s and back
#define X_MOTSPD2RS(n) (X_MOT2RAD(n)/65536.*1953.)
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r)*65536./1953.))
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/65536.*1953.)
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
#define X_MOTSPD2RS(n) (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
// motor acceleration -//-
#define X_MOTACC2RS(n) (X_MOT2RAD(n)/65536.*1953.*1953.)
#define X_RS2MOTACC(r) ((int32_t)(X_RAD2MOT(r)*65536./1953./1953.))
#define Y_MOTACC2RS(n) (Y_MOT2RAD(n)/65536.*1953.*1953.)
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r)*65536./1953./1953.))
#define X_MOTACC2RS(n) (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
#define Y_MOTACC2RS(n) (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
#define X_RS2MOTACC(r) ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
// adder time to seconds vice versa
#define ADDER2S(a) ((a)*1953.)
#define S2ADDER(s) ((s)/1953.)
#define ADDER2S(a) ((a) * SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) / SITECH_LOOP_FREQUENCY)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)