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id stuff

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crinq
2021-09-16 19:00:19 +02:00
parent 4cb7603971
commit 715750cd32
4 changed files with 7 additions and 8 deletions
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shared/comps/iddc.c
+2 -4
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@@ -22,7 +22,6 @@ HAL_PIN(timer);
HAL_PIN(r);
HAL_PIN(l);
HAL_PIN(pp);
HAL_PIN(com_offset);
HAL_PIN(out_rev);
@@ -66,7 +65,6 @@ static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
PIN(r) = 0.1;
PIN(l) = 0.001;
PIN(psi) = 0.055;
PIN(pp) = 3.0;
PIN(com_offset) = 0.0;
PIN(out_rev) = 0.0;
PIN(cur_bw) = 1.0;
@@ -196,14 +194,14 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
PIN(cur_bw) = 250.0;
float vel_error = PIN(test_vel) - ABS(PIN(vel_fb));
vel_error = LIMIT(vel_error, PIN(test_vel) / 10.0);
vel_error = LIMIT(vel_error, PIN(test_vel) / 100.0);
PIN(cur_sum) += PIN(ki) * vel_error * period;
PIN(q_cmd) = PIN(vel_bw) * period * vel_error + PIN(cur_sum);
if(ABS(PIN(vel_fb)) > 0.1){
float psi = (PIN(uq_fb) - PIN(iq_fb) * PIN(r)) / (PIN(vel_fb) * PIN(pp));
float psi = (PIN(uq_fb) - PIN(iq_fb) * PIN(r)) / (PIN(vel_fb));
PIN(psi) = PIN(psi) * (1.0 - period / PIN(pi)) + psi * period / PIN(pi);
}
shared/comps/idm.c
+3 -3
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@@ -54,10 +54,10 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
PIN(ji) = 200.0;
PIN(di) = 10.0;
PIN(pos_bw) = 5.0;
PIN(vel_bw) = 25.0;
PIN(vel_bw) = 40.0;
PIN(vel_d) = 1.0;
PIN(max_vel) = 50.0;
PIN(max_acc) = 1000.0;
PIN(max_vel) = 25.0;
PIN(max_acc) = 250.0;
PIN(min_pos) = -10.0;
PIN(max_pos) = 10.0;
PIN(auto_step) = 1.4;
shared/comps/idpmsm.c
+1
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@@ -292,6 +292,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
PIN(com_pos) = mod((PIN(pos_fb) + PIN(com_offset)) * PIN(pp));
float vel_error = PIN(test_vel) - PIN(vel_fb);
vel_error = LIMIT(vel_error, PIN(test_vel) / 100.0);
PIN(cur_sum) += PIN(ki) * vel_error * period;
PIN(q_cmd) = PIN(vel_bw) * period * vel_error + PIN(cur_sum);
shared/comps/ids.c
+1 -1
View File
@@ -195,7 +195,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
if(PIN(timer) == 0.0){
PIN(min_cost) = MIN(PIN(cost), PIN(min_cost));
PINA(max_params, 2) = PINA(params, 0) / 2.0;
PINA(max_params, 2) = PINA(params, 0) * 2.0;
if(PINA(params, (int)PIN(param)) > PINA(max_params, (int)PIN(param))){
PINA(params, (int)PIN(param)) = PINA(max_params, (int)PIN(param));