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Tammo Jan Dijkema
dt_ctrl
Commits
64b1a680
Commit
64b1a680
authored
Jun 08, 2014
by
Jeroen Vreeken
Browse files
Merge branch 'jeroen' into controller_bus
parents
b451f655
4dde389a
Changes
5
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Inline
Side-by-side
console/htdocs/dt_ui.js
View file @
64b1a680
...
...
@@ -128,7 +128,7 @@ function dt_traceval(element)
"
<div style='float: left'>
"
+
this
.
label
+
filler
+
"
</div>
"
+
"
<div align='right'>
"
+
"
<div align='right'
style='padding-right: 5px'
>
"
+
new_value
+
this
.
suffix
+
"
</div>
"
;
changed
=
true
;
...
...
console/htdocs/index.html
View file @
64b1a680
...
...
@@ -265,7 +265,7 @@
<td
valign=
"top"
width=
"30%"
style=
"border:thin solid black"
>
<center>
<input
type=
"button"
value=
"Focusbox 134.7,-0.05"
onclick=
"azel_set_coord('134.7','-0.05');"
><br>
<input
type=
"button"
value=
"Show
-6
,30"
onclick=
"azel_set_coord('
-6
','30');"
><br>
<input
type=
"button"
value=
"Show
30
,30"
onclick=
"azel_set_coord('
30
','30');"
><br>
</center>
</td>
</tr>
...
...
@@ -1110,12 +1110,12 @@ Elevation_Setpoint_trace.open(trace_url, 'Elevation_Setpoint', 2);
*/
var
focusbox_position
=
new
dt_traceval
(
"
Focusbox_Position
"
);
focusbox_position
.
number_set
(
true
,
2
);
focusbox_position
.
number_set
(
true
,
0
);
focusbox_position
.
highlight_set
(
true
,
"
yellow
"
,
"
white
"
);
function
Focusbox_Position_trace_value
(
obj
,
time
,
value
,
unit
)
{
focusbox_position
.
value
(
value
);
focusbox_position
.
value
(
value
*
10
);
}
function
Focusbox_Position_trace_timeout
(
obj
)
...
...
controller/dt_ctrl.ctrl
View file @
64b1a680
...
...
@@ -238,7 +238,7 @@ params {
# maximum speed and position clients input is checked against
{ "azimuth_spg", "max_x", (float) deg2rad(270.0) }
{ "azimuth_spg", "min_x", (float) deg2rad(-270.0) }
{ "azimuth_spg", "max_v", (float) rpm2rads(
21
00.0)/$(azimuth_gear) }
{ "azimuth_spg", "max_v", (float) rpm2rads(
30
00.0)/$(azimuth_gear) }
# acceleration and jerk we use to generate a profile
{ "azimuth_spg", "max_a", (float) 0.0002 }
{ "azimuth_spg", "max_j", (float) 0.00001 }
...
...
@@ -249,7 +249,7 @@ params {
# maximum values within we allow normal operation
{ "azimuth_servo_state", "max_x", (float) deg2rad(270.0) }
{ "azimuth_servo_state", "min_x", (float) deg2rad(-270.0) }
{ "azimuth_servo_state", "max_v", (float) rpm2rads(
21
00.0)/$(azimuth_gear) }
{ "azimuth_servo_state", "max_v", (float) rpm2rads(
30
00.0)/$(azimuth_gear) }
{ "azimuth_servo_state", "max_a", (float) 0.0002 }
# controller factors
{ "azimuth_pid", "kp", (float) 0.20 }
...
...
controller/dt_ctrl.param
View file @
64b1a680
...
...
@@ -8,5 +8,5 @@ params {
{ "elevation_pid", "kd", (float)0 }
# limit spg to 1000rpm
{ "azimuth_spg", "max_v", (float) rpm2rads(
10
00.0)/$(azimuth_gear) }
{ "azimuth_spg", "max_v", (float) rpm2rads(
25
00.0)/$(azimuth_gear) }
}
controller/dt_ctrl.param.dt
View file @
64b1a680
...
...
@@ -6,8 +6,10 @@ params {
#limit spg to 1000rpm
{ "azimuth_spg", "max1d", (float)0.006981317 }
{ "azimuth_spg", "min1d", (float)-0.006981317 }
{ "azimuth_spg", "max1d", (float) rpm2rads(2500.0)/$(azimuth_gear) }
# { "azimuth_spg", "max1d", (float)0.006981317 }
{ "azimuth_spg", "min1d", (float)-rpm2rads(2500.0)/$(azimuth_gear) }
# { "azimuth_spg", "min1d", (float)-0.006981317 }
#limit spg to 2500rpm
#float azimuth_spg max1d 0.017453293
...
...
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