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This commit is contained in:
Edward Emelianov
2025-12-08 21:04:06 +03:00
parent 2e9241f079
commit 74d9ebb75f
20 changed files with 386 additions and 314 deletions
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4
Auxiliary_utils/LibSidServo/PID.h
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@@ -27,7 +27,7 @@ typedef struct {
double prev_error; // Previous error
double integral; // Integral term
double *pidIarray; // array for Integral
double prevT; // time of previous correction
struct timespec prevT; // time of previous correction
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController_t;
@@ -37,4 +37,4 @@ void pid_clear(PIDController_t *pid);
void pid_delete(PIDController_t **pid);
double pid_calculate(PIDController_t *pid, double error, double dt);
mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint);
mcc_errcodes_t correct2(const coordval_pair_t *target);