mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 16:50:16 +08:00
64c35930c7
Added experimental support for G66 (modal macro call) and G67 (end modal macro call). Made axis letter to axis/motor assignment for axes ABCUVW freely changeable at compile time. Fix for some G65 arguments being incorrectly validated for normal use (sign, range). Added repeat support to G65 macro call via the optional L parameter word. Changed default setting for ABC-axes to rotary. Changed defaults for jerk settings to 10x acceleration settings. Disabled jerk for jog, probe and spindle synchronized motion. Added _active_probe system parameter, returns -1 if no probe inputs available. Minor bug fix, G5.1 and G33.1 motion commands were not coverted to the correct string equivalent in $G output.
58 lines
1.5 KiB
C
58 lines
1.5 KiB
C
/*
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pid.h - An embedded CNC Controller with rs274/ngc (g-code) support
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PID algorithm for closed loop control
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NOTE: not referenced in the core grblHAL code
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Part of grblHAL
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Copyright (c) 2020-2023 Terje Io
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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grblHAL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _PID_H_
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#define _PID_H_
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#include <stdbool.h>
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typedef struct {
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float p_gain;
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float i_gain;
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float d_gain;
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float p_max_error;
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float i_max_error;
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float d_max_error;
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float deadband;
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float max_error;
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} pid_values_t;
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typedef struct {
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pid_values_t cfg;
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float deadband;
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float i_error;
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float d_error;
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float sample_rate_prev;
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float error;
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float max_error;
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} pidf_t;
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void pidf_reset (pidf_t *pid);
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void pidf_init(pidf_t *pid, pid_values_t *config);
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bool pidf_config_changed (pidf_t *pid, pid_values_t *config);
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float pidf (pidf_t *pid, float command, float actual, float sample_rate);
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#endif
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