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is moving model really works?

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This commit is contained in:
Edward Emelianov
2025-08-06 15:09:07 +03:00
parent 46ff11df58
commit 581cdc60f9
31 changed files with 1557 additions and 396 deletions
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20
Auxiliary_utils/LibSidServo/PID_test/moving.c
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@@ -24,12 +24,9 @@
#include "moving.h"
#include "moving_private.h"
#include "Dramp.h"
#include "Sramp.h"
#include "Tramp.h"
//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
static movemodel_t *model = NULL;
static movemodel_t *model = &trapez;
double coord_tolerance = COORD_TOLERANCE_DEFAULT;
double time_tick = TIME_TICK_DEFAULT;
@@ -56,21 +53,8 @@ static void chkminmax(double *min, double *max){
*max = t;
}
movemodel_t *init_moving(ramptype_t type, limits_t *l){
movemodel_t *init_moving(limits_t *l){
if(!l) return FALSE;
switch(type){
case RAMP_DUMB:
model = &dumb;
break;
case RAMP_TRAPEZIUM:
model = &trapez;
break;
case RAMP_S:
model = &s_shaped;
break;
default:
return FALSE;
}
if(!model->init_limits) return NULL;
moveparam_t *max = &l->max, *min = &l->min;
if(min->speed < 0.) min->speed = -min->speed;