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This commit is contained in:
Edward Emelianov
2025-07-29 22:14:29 +03:00
parent e1f0a0804f
commit 46ff11df58
45 changed files with 1736 additions and 134 deletions
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7
Auxiliary_utils/LibSidServo/moving_model/Tramp.c
View File

@@ -122,7 +122,10 @@ static int calc(moveparam_t *x, double t){
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 = (curspeed > setspeed) ? -Max.accel : 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
@@ -150,7 +153,7 @@ static int calc(moveparam_t *x, double t){
dx23 = setspeed * dt23 / 2.;
// calculate dx12 and dt12
double dx12 = Dx - dx01 - dx23;
if(dx12 < 0.){
if(dx12 < -coord_tolerance){
DBG("Oops, WTF?");
return FALSE;
}

18
Auxiliary_utils/LibSidServo/moving_model/main.c
View File

@@ -38,12 +38,12 @@ static pars G = {
};
static limits_t limits = {
.min = {.coord = -1e6, .speed = 0.1, .accel = 0.1},
.max = {.coord = 1e6, .speed = 1e3, .accel = 50.},
.min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
.max = {.coord = 1e6, .speed = 20., .accel = 9.53523},
.jerk = 10.
};
static myoption opts[] = {
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"},
{"deltat", NEED_ARG, NULL, 't', arg_int, APTR(&G.dT), "time interval for monitoring (microseconds, >0)"},
@@ -84,9 +84,9 @@ static void monit(double tnext){
}
int main(int argc, char **argv){
initial_setup();
parseargs(&argc, &argv, opts);
if(G.help) showhelp(-1, opts);
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);
@@ -101,8 +101,9 @@ int main(int argc, char **argv){
model = init_moving(ramp, &limits);
if(!model) ERRX("Can't init moving model: check parameters");
Tstart = nanot();
moveparam_t target = {.speed = 10., .coord = 20.};
if(move(&target)) monit(0.5);
moveparam_t target = {.speed = 8.0, .coord = 90.};
if(move(&target)) monit(60.);
/*
for(int i = 0; i < 10; ++i){
target.coord = -target.coord;
if(move(&target)) monit(1.);
@@ -119,6 +120,7 @@ int main(int argc, char **argv){
target.coord = 0.; target.speed = 20.;
if(move(&target)) monit(1e6);
usleep(5000);
*/
fclose(coordslog);
return 0;
}