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add PID (not tested yet)

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Edward V. Emelianov
2025-08-04 17:43:35 +03:00
parent 219cec6055
commit f661dfad44
10 changed files with 300 additions and 49 deletions
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20
LibSidServo/examples/conf.c
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@@ -31,6 +31,14 @@ static conf_t Config = {
.EncoderReqInterval = 0.05,
.SepEncoder = 2,
.EncoderSpeedInterval = 0.1,
.XPIDC.P = 0.5,
.XPIDC.D = 0.05,
.XPIDV.P = 0.5,
.XPIDV.D = 0.05,
.YPIDC.P = 0.5,
.YPIDC.D = 0.05,
.YPIDV.P = 0.5,
.YPIDV.D = 0.05,
};
static sl_option_t opts[] = {
@@ -45,6 +53,18 @@ static sl_option_t opts[] = {
{"EncoderYDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderYDevPath), "path to Y encoder (/dev/encoderY0)"},
{"EncoderSpeedInterval", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
{"RunModel", NEED_ARG, NULL, 0, arg_int, APTR(&Config.RunModel), "instead of real hardware run emulation"},
{"XPIDCP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.P), "P of X PID (coordinate driven)"},
{"XPIDCI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.I), "I of X PID (coordinate driven)"},
{"XPIDCD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.D), "D of X PID (coordinate driven)"},
{"YPIDCP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDC.P), "P of Y PID (coordinate driven)"},
{"YPIDCI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDC.I), "I of Y PID (coordinate driven)"},
{"YPIDCD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDC.D), "D of Y PID (coordinate driven)"},
{"XPIDVP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDV.P), "P of X PID (velocity driven)"},
{"XPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDV.I), "I of X PID (velocity driven)"},
{"XPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDV.D), "D of X PID (velocity driven)"},
{"YPIDVP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.P), "P of Y PID (velocity driven)"},
{"YPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.I), "I of Y PID (velocity driven)"},
{"YPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.D), "D of Y PID (velocity driven)"},
end_option
};