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SSII - is a really piece of shit!

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This commit is contained in:
Edward Emelianov
2025-07-23 22:55:23 +03:00
parent 7634856967
commit e1f0a0804f
8 changed files with 119 additions and 69 deletions
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14
Auxiliary_utils/LibSidServo/ssii.h
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@@ -168,11 +168,15 @@
// Loop freq
#define SITECH_LOOP_FREQUENCY (1953.)
// steps per revolution
// steps per revolution (SSI - x4 - for SSI)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3325952.)
#define X_MOT_STEPSPERREV_SSI (13312000.)
//#define X_MOT_STEPSPERREV (3325952.)
#define X_MOT_STEPSPERREV (3328000.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394960.)
#define Y_MOT_STEPSPERREV_SSI (17578668.)
//#define Y_MOT_STEPSPERREV (4394960.)
#define Y_MOT_STEPSPERREV (4394667.)
// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
#define X_SPEED_MAX (0.17453)
@@ -195,8 +199,8 @@
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
// adder time to seconds vice versa
#define ADDER2S(a) ((a) * SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) / SITECH_LOOP_FREQUENCY)
#define ADDER2S(a) ((a) / SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) * SITECH_LOOP_FREQUENCY)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)