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add PID (not tested yet)

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This commit is contained in:
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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21
LibSidServo/main.c
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@@ -30,6 +30,7 @@
#include "movingmodel.h"
#include "serial.h"
#include "ssii.h"
#include "PID.h"
conf_t Conf = {0};
// parameters for model
@@ -209,17 +210,18 @@ static int chkYs(double s){
return TRUE;
}
/*
static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
(void)target;
(void)flags;
//if(Conf.RunModel) return ... ;
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
//...
setStat(MNT_SLEWING, MNT_SLEWING);
setStat(AXIS_SLEWING, AXIS_SLEWING);
//...
return MCC_E_FAILED;
}
*/
/**
* @brief move2 - simple move to given point and stop
@@ -239,7 +241,7 @@ static mcc_errcodes_t move2(const coordpair_t *target){
cmd.Yspeed = MCC_MAX_Y_SPEED;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setStat(MNT_SLEWING, MNT_SLEWING);
setStat(AXIS_SLEWING, AXIS_SLEWING);
return MCC_E_OK;
}
@@ -269,14 +271,6 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
if(!target || !speed) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
/* if(Conf.RunModel){
double curt = nanotime();
moveparam_t param = {0};
param.coord = target->X; param.speed = speed->X;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
param.coord = target->Y; param.speed = speed->Y;
if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
}*/
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};
cmd.Xmot = target->X;
@@ -285,7 +279,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
cmd.Yspeed = speed->Y;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setStat(MNT_SLEWING, MNT_SLEWING);
setStat(AXIS_SLEWING, AXIS_SLEWING);
return MCC_E_OK;
}
@@ -501,7 +495,7 @@ mount_t Mount = {
.init = init,
.quit = quit,
.getMountData = getMD,
.slewTo = slew2,
// .slewTo = slew2,
.moveTo = move2,
.moveWspeed = move2s,
.setSpeed = setspeed,
@@ -512,5 +506,6 @@ mount_t Mount = {
.getHWconfig = get_hwconf,
.saveHWconfig = write_hwconf,
.currentT = nanotime,
.correctTo = correct2,
};