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fixed time

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This commit is contained in:
Edward Emelianov
2025-11-01 15:02:11 +03:00
parent 27a7388164
commit f6edc12b01
18 changed files with 139 additions and 76 deletions
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15
Auxiliary_utils/LibSidServo/ramp.c
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@@ -23,12 +23,14 @@
#include "main.h"
#include "ramp.h"
/*
#ifdef EBUG
#undef DBG
#define DBG(...)
#undef FNAME
#define FNAME()
#endif
*/
static double coord_tolerance = COORD_TOLERANCE_DEFAULT;
static void emstop(movemodel_t *m, double _U_ t){
@@ -120,7 +122,7 @@ static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
}
}else{
// if we are here, we have the worst case: change speed direction
DBG("Hardest case: change speed direction");
// DBG("Hardest case: change speed direction");
// now we should calculate coordinate at which model stops and biuld new trapezium from that point
double x0 = m->curparams.coord, v0 = m->curparams.speed;
double xstop = x0 + sign_v0 * abs_dx_stop, tstop = t + abs_v0 / abs_a;
@@ -132,7 +134,7 @@ static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
m->Times[STAGE_ACCEL] = t;
m->Params[STAGE_ACCEL].coord = x0;
m->Params[STAGE_ACCEL].speed = v0;
DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
// DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
return;
}
m->state = ST_MOVE;
@@ -210,11 +212,10 @@ static movestate_t proc(movemodel_t *m, moveparam_t *next, double t){
if(m->movingstage == STAGE_STOPPED){
m->curparams.coord = m->Params[STAGE_STOPPED].coord;
pthread_mutex_unlock(&m->mutex);
DBG("REACHED STOPping stage @ t=%g", t);
/* DBG("REACHED STOPping stage @ t=%g", t);
for(int s = STAGE_STOPPED; s >= 0; --s){
DBG("T[%d]=%g, ", s, m->Times[s]);
}
fflush(stdout);
}*/
emstop(m, t);
goto ret;
}