eddy/small_tel
1
0
Fork 0
mirror of https://github.com/eddyem/small_tel.git synced 2026-03-21 17:21:01 +03:00
Code Issues Packages Projects Releases Wiki Activity

is moving model really works?

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

25
Auxiliary_utils/LibSidServo/examples/conf.c
View File

@@ -31,6 +31,18 @@ static conf_t Config = {
.EncoderReqInterval = 0.05,
.SepEncoder = 2,
.EncoderSpeedInterval = 0.1,
.XPIDC.P = 0.8,
.XPIDC.I = 0.1,
.XPIDC.D = 0.3,
.XPIDV.P = 1.,
.XPIDV.I = 0.01,
.XPIDV.D = 0.2,
.YPIDC.P = 0.8,
.YPIDC.I = 0.1,
.YPIDC.D = 0.3,
.YPIDV.P = 0.5,
.YPIDV.I = 0.2,
.YPIDV.D = 0.5,
};
static sl_option_t opts[] = {
@@ -44,6 +56,19 @@ static sl_option_t opts[] = {
{"EncoderXDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderXDevPath), "path to X encoder (/dev/encoderX0)"},
{"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
};