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add PID-related items in mount config

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rewrite AsibFM700ServoController methods according to new time point
representation in LibSidServo
This commit is contained in:
Timur A. Fatkhullin
2025-12-04 18:11:41 +03:00
parent da9cd51e5c
commit acd26edc9c
3 changed files with 87 additions and 4 deletions
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25
asibfm700/asibfm700_configfile.h
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@@ -238,6 +238,21 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
std::chrono::milliseconds(100),
{"mount axes rate calculation interval in millisecs"}},
simple_config_record_t{"PIDMaxDt",
std::chrono::milliseconds(1000),
{"maximal PID refresh time interval in millisecs",
"NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
"encoder data too rarely)",
"then the PID 'expired' data will be cleared and new computing loop is started"}},
simple_config_record_t{"PIDRefreshDt", std::chrono::milliseconds(100), {"PID refresh interval"}},
simple_config_record_t{"PIDCycleDt",
std::chrono::milliseconds(5000),
{"PID I cycle time (analog of 'RC' for PID on opamps)"}},
// X-axis coordinate PID P,I,D-params
simple_config_record_t{"XPIDC", std::vector<double>{0.8, 0.1, 0.3}, {"X-axis coordinate PID P,I,D-params"}},
@@ -485,6 +500,16 @@ public:
secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or(std::chrono::milliseconds{});
hw_cfg.devConfig.EncoderSpeedInterval = secs.count();
secs = getValue<std::chrono::milliseconds>("PIDMaxDt").value_or(std::chrono::milliseconds{1000});
hw_cfg.devConfig.PIDMaxDt = secs.count();
secs = getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or(std::chrono::milliseconds{100});
hw_cfg.devConfig.PIDRefreshDt = secs.count();
secs = getValue<std::chrono::milliseconds>("PIDCycleDt").value_or(std::chrono::milliseconds{5000});
hw_cfg.devConfig.PIDCycleDt = secs.count();
std::vector<double> pid = getValue<std::vector<double>>("XPIDC").value_or(std::vector<double>{});
if (pid.size() > 2) {
hw_cfg.devConfig.XPIDC.P = pid[0];