From 631daf67c5b7578c1ee9ebac2e73337c88e75d95 Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Wed, 2 Nov 2022 08:32:58 +0000
Subject: [PATCH 1/9] Add slow_mode command and trace
---
controller/dt_ctrl.ctrl | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/controller/dt_ctrl.ctrl b/controller/dt_ctrl.ctrl
index 99b7097..b1a890d 100644
--- a/controller/dt_ctrl.ctrl
+++ b/controller/dt_ctrl.ctrl
@@ -63,6 +63,7 @@ blocks ($(frequency), $(delay)) {
{ "rangecheck", "azimuth_speed_range_positive" }
{ "or2", "azimuth_position_range" }
{ "command_bool", "azimuth_recover" }
+ { "command_bool", "azimuth_slow_mode" }
{ "and2", "azimuth_position_safe" }
{ "log", "azimuth_position_range_log" }
{ "log", "azimuth_position_safe_log" }
@@ -302,7 +303,8 @@ traces {
{ "Azimuth_Drive_Safety_p270", "Boolean", $<Azimuth_Drive_Safety_p270> }
{ "Azimuth_Drive_Safety_m270", "Boolean", $<Azimuth_Drive_Safety_m270> }
{ "Azimuth_Override", "Boolean", "azimuth_recover", "value" }
-
+ { "Azimuth_Slow_Mode", "Boolean", "azimuth_slow_mode", "value" }
+
{ "Focusbox_Position", "Volt", "dt_az", "ae1" }
{ "Elevation_Position", "rad", $<Elevation_Position> }
--
GitLab
From 9c85d3f7c1ed00a896168630463865657cb6340e Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Wed, 2 Nov 2022 11:19:28 +0000
Subject: [PATCH 2/9] Add slow_mode input to spg3d
---
controller/block/block_setpoint_generator_3d.c | 4 ++++
controller/block/block_setpoint_generator_3d.test.ctrl | 1 +
controller/dt_ctrl.ctrl | 2 ++
3 files changed, 7 insertions(+)
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index 0c733cf..1319d2f 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -48,6 +48,8 @@
| |
----| 5 track_v_cmd |
| |
+ ----| 6 slow_mode |
+ | |
-------------------------------
'setpoint' is the setpoint as the user requested it.
@@ -88,6 +90,7 @@ struct controller_block_private {
float *track_v;
bool *track_x_cmd;
bool *track_v_cmd;
+ bool *slow_mode;
/* beware: 'samples' is the time unit, not 'seconds',
all parameters and commands are scaled on block entry/exit */
@@ -988,6 +991,7 @@ static struct controller_block_interm_list interms[] = {
{ "track_v", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, track_v) },
{ "track_x_cmd", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, track_x_cmd) },
{ "track_v_cmd", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, track_v_cmd) },
+ { "slow_mode", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, slow_mode) },
{ NULL }
};
diff --git a/controller/block/block_setpoint_generator_3d.test.ctrl b/controller/block/block_setpoint_generator_3d.test.ctrl
index ea9bb23..c849d74 100644
--- a/controller/block/block_setpoint_generator_3d.test.ctrl
+++ b/controller/block/block_setpoint_generator_3d.test.ctrl
@@ -29,6 +29,7 @@ links {
{ "track_v", "value", "spg", "track_v", true }
{ "false", "value", "spg", "track_x_cmd", true }
{ "false", "value", "spg", "track_v_cmd", true }
+ { "false", "value", "spg", "slow_mode", true }
{ "spg", "x", "x", "value", true }
{ "spg", "v", "v", "value", true }
diff --git a/controller/dt_ctrl.ctrl b/controller/dt_ctrl.ctrl
index b1a890d..c0f09b0 100644
--- a/controller/dt_ctrl.ctrl
+++ b/controller/dt_ctrl.ctrl
@@ -144,6 +144,7 @@ links {
{ "zero", "value", "azimuth_spg", "track_v" , true }
{ "false", "value", "azimuth_spg", "track_x_cmd" , true }
{ "false", "value", "azimuth_spg", "track_v_cmd" , true }
+ { "false", "value", "azimuth_spg", "slow_mode" , true }
{ "azimuth_spg", "x", "azimuth_servo_state", "spg_x" , true }
{ "azimuth_spg", "v", "azimuth_servo_state", "spg_v" , true }
{ "azimuth_spg", "a", "azimuth_servo_state", "spg_a" , true }
@@ -193,6 +194,7 @@ links {
{ "zero", "value", "elevation_spg", "track_v" , true }
{ "false", "value", "elevation_spg", "track_x_cmd" , true }
{ "false", "value", "elevation_spg", "track_v_cmd" , true }
+ { "false", "value", "elevation_spg", "slow_mode" , true }
{ "elevation_spg", "x", "elevation_servo_state", "spg_x" , true }
{ "elevation_spg", "v", "elevation_servo_state", "spg_v" , true }
{ "elevation_spg", "a", "elevation_servo_state", "spg_a" , true }
--
GitLab
From 22c504abd5837c44ae6d32e020ee4fbaf4c56aa1 Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Wed, 2 Nov 2022 20:27:09 +0000
Subject: [PATCH 3/9] Add direct slow mode
---
.../block/block_setpoint_generator_3d.c | 39 +++++++++++--------
controller/dt_ctrl.ctrl | 4 +-
2 files changed, 24 insertions(+), 19 deletions(-)
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index 1319d2f..d29de18 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -34,23 +34,23 @@
inputs outputs
nr name nr name
- -------------------------------
- | |
- ----| 0 reset_x 0 x |----
- | |
- ----| 1 reset 1 v |----
- | |
- ----| 2 track_x 2 a |----
- | |
- ----| 3 track_v 3 j |----
- | |
- ----| 4 track_x_cmd 4 setpoint |----
- | |
- ----| 5 track_v_cmd |
- | |
- ----| 6 slow_mode |
- | |
- -------------------------------
+ -------------------------------------
+ | |
+ ----| 0 reset_x 0 x |----
+ | |
+ ----| 1 reset 1 v |----
+ | |
+ ----| 2 track_x 2 a |----
+ | |
+ ----| 3 track_v 3 j |----
+ | |
+ ----| 4 track_x_cmd 4 setpoint |----
+ | |
+ ----| 5 track_v_cmd 5 slow_mode_used |
+ | |
+ ----| 6 slow_mode |
+ | |
+ -------------------------------------
'setpoint' is the setpoint as the user requested it.
'x' is the output of the setpoint generator.
@@ -91,6 +91,7 @@ struct controller_block_private {
bool *track_x_cmd;
bool *track_v_cmd;
bool *slow_mode;
+ bool slow_mode_used;
/* beware: 'samples' is the time unit, not 'seconds',
all parameters and commands are scaled on block entry/exit */
@@ -242,9 +243,11 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
bool must_brake = false;
bool good_x;
bool good_v;
+ bool slow_mode_used;
cur_x = priv->cur_x;
cur_v = priv->cur_v;
+ slow_mode_used = *priv->slow_mode; // TODO add logic here!
t_max_a = priv->t_max_a;
@@ -809,6 +812,7 @@ set_output:
priv->cmd_x_out = priv->cmd_x;
priv->cur_x = cur_x;
priv->cur_v = cur_v;
+ priv->slow_mode_used = slow_mode_used;
}
static int block_setpoint_generator_command_filter(struct controller_command *command,
@@ -1001,6 +1005,7 @@ static struct controller_block_outterm_list outterms[] = {
{ "a", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cur_a_out) },
{ "j", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cur_j_out) },
{ "setpoint", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cmd_x_out) },
+ { "slow_mode_used", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, slow_mode_used) },
{ "id", CONTROLLER_BLOCK_TERM_UINT32, offsetof(struct controller_block_private, id) },
{ NULL }
};
diff --git a/controller/dt_ctrl.ctrl b/controller/dt_ctrl.ctrl
index c0f09b0..baa289e 100644
--- a/controller/dt_ctrl.ctrl
+++ b/controller/dt_ctrl.ctrl
@@ -64,6 +64,7 @@ blocks ($(frequency), $(delay)) {
{ "or2", "azimuth_position_range" }
{ "command_bool", "azimuth_recover" }
{ "command_bool", "azimuth_slow_mode" }
+ { "value", "azimuth_slow_mode_used" }
{ "and2", "azimuth_position_safe" }
{ "log", "azimuth_position_range_log" }
{ "log", "azimuth_position_safe_log" }
@@ -144,7 +145,7 @@ links {
{ "zero", "value", "azimuth_spg", "track_v" , true }
{ "false", "value", "azimuth_spg", "track_x_cmd" , true }
{ "false", "value", "azimuth_spg", "track_v_cmd" , true }
- { "false", "value", "azimuth_spg", "slow_mode" , true }
+ { "azimuth_slow_mode", "value", "azimuth_spg", "slow_mode" , true }
{ "azimuth_spg", "x", "azimuth_servo_state", "spg_x" , true }
{ "azimuth_spg", "v", "azimuth_servo_state", "spg_v" , true }
{ "azimuth_spg", "a", "azimuth_servo_state", "spg_a" , true }
@@ -305,7 +306,6 @@ traces {
{ "Azimuth_Drive_Safety_p270", "Boolean", $<Azimuth_Drive_Safety_p270> }
{ "Azimuth_Drive_Safety_m270", "Boolean", $<Azimuth_Drive_Safety_m270> }
{ "Azimuth_Override", "Boolean", "azimuth_recover", "value" }
- { "Azimuth_Slow_Mode", "Boolean", "azimuth_slow_mode", "value" }
{ "Focusbox_Position", "Volt", "dt_az", "ae1" }
--
GitLab
From ef34076f69b2b04b0aae54e17c04d549ea7c5b9d Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Wed, 2 Nov 2022 20:54:48 +0000
Subject: [PATCH 4/9] Implement logic for changing slow mode
---
controller/block/block_setpoint_generator_3d.c | 16 +++++++++++-----
1 file changed, 11 insertions(+), 5 deletions(-)
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index d29de18..8063172 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -91,7 +91,6 @@ struct controller_block_private {
bool *track_x_cmd;
bool *track_v_cmd;
bool *slow_mode;
- bool slow_mode_used;
/* beware: 'samples' is the time unit, not 'seconds',
all parameters and commands are scaled on block entry/exit */
@@ -139,6 +138,7 @@ struct controller_block_private {
double cur_v;
double cur_a;
double cur_j;
+ bool cur_slow_mode;
float cur_x_out; /* float version of the internal values */
float cur_v_out;
float cur_a_out;
@@ -243,11 +243,17 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
bool must_brake = false;
bool good_x;
bool good_v;
- bool slow_mode_used;
cur_x = priv->cur_x;
cur_v = priv->cur_v;
- slow_mode_used = *priv->slow_mode; // TODO add logic here!
+ if (fabs(cur_v) < 1.e-5) {
+ // Slow mode can only be changed when almost standing still
+ if (priv->cur_slow_mode != *priv->slow_mode) {
+ log_send(LOG_T_WARNING, "Slow mode changed\n");
+ //log_send(LOG_T_WARNING, "cur_v = %5.8g!\n", cur_v);
+ }
+ priv->cur_slow_mode = *priv->slow_mode;
+ }
t_max_a = priv->t_max_a;
@@ -812,7 +818,6 @@ set_output:
priv->cmd_x_out = priv->cmd_x;
priv->cur_x = cur_x;
priv->cur_v = cur_v;
- priv->slow_mode_used = slow_mode_used;
}
static int block_setpoint_generator_command_filter(struct controller_command *command,
@@ -1005,7 +1010,7 @@ static struct controller_block_outterm_list outterms[] = {
{ "a", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cur_a_out) },
{ "j", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cur_j_out) },
{ "setpoint", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cmd_x_out) },
- { "slow_mode_used", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, slow_mode_used) },
+ { "slow_mode_used", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, cur_slow_mode) },
{ "id", CONTROLLER_BLOCK_TERM_UINT32, offsetof(struct controller_block_private, id) },
{ NULL }
};
@@ -1061,6 +1066,7 @@ static struct controller_block * block_setpoint_generator_3d_create(char *name,
spg->private->cur_v_out = 0.0;
spg->private->cur_a_out = 0.0;
spg->private->cur_j_out = 0.0;
+ spg->private->cur_slow_mode = false;
spg->private->cmd_x_out = 0.0;
spg->private->id = COMMAND_ID_NONE;
--
GitLab
From ef89ade1ced5421524ad85478f734727b1b1540a Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Thu, 3 Nov 2022 20:46:00 +0000
Subject: [PATCH 5/9] Use half speed in slow mode
---
controller/block/block_setpoint_generator_3d.c | 16 +++++++++++-----
1 file changed, 11 insertions(+), 5 deletions(-)
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index 8063172..31df2e8 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -98,6 +98,7 @@ struct controller_block_private {
float cmd_x_out; /* float version of the internal cmd_x */
double cmd_v;
float max_x;
+ float max_v_fac;
float min_x;
float max_v;
float max_a;
@@ -253,6 +254,10 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
//log_send(LOG_T_WARNING, "cur_v = %5.8g!\n", cur_v);
}
priv->cur_slow_mode = *priv->slow_mode;
+ if (priv->cur_slow_mode)
+ priv->max_v_fac = 0.5;
+ else
+ priv->max_v_fac = 1.0;
}
t_max_a = priv->t_max_a;
@@ -710,7 +715,7 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
v = v_after_ticks(priv, v, a, j, t);
/* If not already at the right jerk, set it */
- if (fabs(v) > priv->max_v && signbit(priv->cur_j) != signbit(j)) {
+ if (fabs(v) > priv->max_v_fac * priv->max_v && signbit(priv->cur_j) != signbit(j)) {
if (t <= 1) {
priv->cur_j = 0;
priv->cur_a = 0;
@@ -768,7 +773,7 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
priv->start_t = 0;
}
- if (fabs(cur_v) >= priv->max_v) {
+ if (fabs(cur_v) >= priv->max_v_fac * priv->max_v) {
/* prevent further acceleration beyond max v */
if (signbit(cur_v) == signbit(priv->cur_a)) {
priv->cur_a = 0.0;
@@ -776,7 +781,7 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
if (signbit(cur_v) == signbit(priv->cur_j)) {
priv->cur_j = 0.0;
}
- cur_v = copysign(priv->max_v, cur_v);
+ cur_v = copysign(priv->max_v_fac * priv->max_v, cur_v);
priv->start_j = priv->cur_j;
priv->start_a = priv->cur_a;
@@ -842,8 +847,8 @@ static int block_setpoint_generator_command_filter(struct controller_command *co
case COMMAND_PTYPE_SPEED: {
float value = entry->value.f;
- if (fabs(value) > priv->max_v_sec)
- value = copysign(priv->max_v_sec, value);
+ if (fabs(value) > priv->max_v_fac * priv->max_v_sec)
+ value = copysign(priv->max_v_fac * priv->max_v_sec, value);
entry->value.f = value;
@@ -1036,6 +1041,7 @@ static struct controller_block * block_setpoint_generator_3d_create(char *name,
spg->private->max_x = 0.0;
spg->private->min_x = 0.0;
spg->private->max_v = 0.0;
+ spg->private->max_v_fac = 1.0;
spg->private->max_a = 0.0;
spg->private->inv_max_a = 1.0;
spg->private->max_j = 0.0;
--
GitLab
From f05a9f42c24415915f926a7b9c9c94dbc6efa017 Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Thu, 3 Nov 2022 21:15:19 +0000
Subject: [PATCH 6/9] Add slow mode to mech.html
---
console/htdocs/mech.html | 37 ++++++++++++++++++++++++++++++++-----
1 file changed, 32 insertions(+), 5 deletions(-)
diff --git a/console/htdocs/mech.html b/console/htdocs/mech.html
index 3ba55d8..5e6f216 100644
--- a/console/htdocs/mech.html
+++ b/console/htdocs/mech.html
@@ -119,6 +119,17 @@ var azimuth_software = new dt_ui_window_trace("azimuth_software", "Azimuth Softw
is_number: false,
highlight: false,
},
+ {
+ name: "azimuth_spg.slow_mode_used",
+ frequency: 0,
+ label: "Max speed",
+ true_text: "Reduced max speed",
+ false_text: "Normal max speed",
+ func: one,
+ is_bool: true,
+ true_color: "orange",
+ false_color: "lightgreen"
+ },
{
name: "Azimuth_Position",
frequency: 4,
@@ -467,6 +478,7 @@ var weather_url = "status.cgi";
var azimuth_enable_command = new controller_command("azimuth_servo_state", "bool");
var azimuth_recover_command = new controller_command("azimuth_recover", "bool");
+var azimuth_slow_mode_command = new controller_command("azimuth_slow_mode", "bool");
var elevation_enable_command = new controller_command("elevation_servo_state", "bool");
var elevation_recover_command = new controller_command("elevation_recover", "bool");
@@ -475,10 +487,13 @@ var button_azimuth_enable = new dt_ui_button("button_azimuth_enable");
var button_azimuth_disable = new dt_ui_button("button_azimuth_disable");
var button_azimuth_override = new dt_ui_button("button_azimuth_override");
var button_azimuth_normal = new dt_ui_button("button_azimuth_normal");
+var button_azimuth_normal_speed = new dt_ui_button("button_azimuth_normal_speed");
+var button_azimuth_reduced_speed = new dt_ui_button("button_azimuth_reduced_speed");
azimuth_software.add([
button_azimuth_enable, button_azimuth_disable,
- button_azimuth_override, button_azimuth_normal, ]);
+ button_azimuth_override, button_azimuth_normal,
+ button_azimuth_normal_speed, button_azimuth_reduced_speed, ]);
button_azimuth_enable.text_set("Enable");
button_azimuth_enable.color_set("darkgreen");
@@ -506,16 +521,28 @@ button_azimuth_override.onclick = function azimuth_override() {
azimuth_recover_command.send(1);
}
+button_azimuth_normal_speed.text_set("Set normal speed");
+button_azimuth_normal_speed.color_set("darkgreen");
+button_azimuth_normal_speed.onclick = function azimuth_set_normal_speed() {
+ azimuth_slow_mode_command.send(0);
+}
+
+button_azimuth_reduced_speed.text_set("Set reduced speed");
+button_azimuth_reduced_speed.color_set("darkgreen");
+button_azimuth_reduced_speed.onclick = function azimuth_set_reduced_speed() {
+ azimuth_slow_mode_command.send(1);
+}
azimuth_software.resize_equal([
button_azimuth_enable, button_azimuth_disable,
button_azimuth_override, button_azimuth_normal, ]);
azimuth_software.align_vertical([ button_azimuth_enable, button_azimuth_normal ]);
-azimuth_software.align_horizontal([ button_azimuth_enable, button_azimuth_disable ]);
-azimuth_software.align_horizontal([ button_azimuth_normal, button_azimuth_override ]);
-
-
+azimuth_software.align_horizontal([ button_azimuth_enable, button_azimuth_disable, button_azimuth_normal_speed ]);
+azimuth_software.align_horizontal([ button_azimuth_normal, button_azimuth_override, button_azimuth_reduced_speed ]);
+azimuth_software.resize_equal([
+ button_azimuth_normal_speed, button_azimuth_reduced_speed]);
+azimuth_software.align_vertical([button_azimuth_normal_speed, button_azimuth_reduced_speed]);
var button_elevation_enable = new dt_ui_button("button_elevation_enable");
--
GitLab
From 619aade0b61d3d65084d0823075c2a48a5dc54fa Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Sun, 7 Apr 2024 21:15:10 +0200
Subject: [PATCH 7/9] Rename slow_mode_used -> slow_mode_active
---
console/htdocs/mech.html | 2 +-
.../block/block_setpoint_generator_3d.c | 36 +++++++++----------
controller/dt_ctrl.ctrl | 2 +-
3 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/console/htdocs/mech.html b/console/htdocs/mech.html
index 5e6f216..343d577 100644
--- a/console/htdocs/mech.html
+++ b/console/htdocs/mech.html
@@ -120,7 +120,7 @@ var azimuth_software = new dt_ui_window_trace("azimuth_software", "Azimuth Softw
highlight: false,
},
{
- name: "azimuth_spg.slow_mode_used",
+ name: "azimuth_spg.slow_mode_active",
frequency: 0,
label: "Max speed",
true_text: "Reduced max speed",
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index 31df2e8..cacd2ba 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -34,23 +34,23 @@
inputs outputs
nr name nr name
- -------------------------------------
- | |
- ----| 0 reset_x 0 x |----
- | |
- ----| 1 reset 1 v |----
- | |
- ----| 2 track_x 2 a |----
- | |
- ----| 3 track_v 3 j |----
- | |
- ----| 4 track_x_cmd 4 setpoint |----
- | |
- ----| 5 track_v_cmd 5 slow_mode_used |
- | |
- ----| 6 slow_mode |
- | |
- -------------------------------------
+ ---------------------------------------
+ | |
+ ----| 0 reset_x 0 x |----
+ | |
+ ----| 1 reset 1 v |----
+ | |
+ ----| 2 track_x 2 a |----
+ | |
+ ----| 3 track_v 3 j |----
+ | |
+ ----| 4 track_x_cmd 4 setpoint |----
+ | |
+ ----| 5 track_v_cmd 5 slow_mode_active |
+ | |
+ ----| 6 slow_mode |
+ | |
+ ---------------------------------------
'setpoint' is the setpoint as the user requested it.
'x' is the output of the setpoint generator.
@@ -1015,7 +1015,7 @@ static struct controller_block_outterm_list outterms[] = {
{ "a", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cur_a_out) },
{ "j", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cur_j_out) },
{ "setpoint", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, cmd_x_out) },
- { "slow_mode_used", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, cur_slow_mode) },
+ { "slow_mode_active", CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, cur_slow_mode) },
{ "id", CONTROLLER_BLOCK_TERM_UINT32, offsetof(struct controller_block_private, id) },
{ NULL }
};
diff --git a/controller/dt_ctrl.ctrl b/controller/dt_ctrl.ctrl
index baa289e..5b2ca3a 100644
--- a/controller/dt_ctrl.ctrl
+++ b/controller/dt_ctrl.ctrl
@@ -64,7 +64,7 @@ blocks ($(frequency), $(delay)) {
{ "or2", "azimuth_position_range" }
{ "command_bool", "azimuth_recover" }
{ "command_bool", "azimuth_slow_mode" }
- { "value", "azimuth_slow_mode_used" }
+ { "value", "azimuth_slow_mode_active" }
{ "and2", "azimuth_position_safe" }
{ "log", "azimuth_position_range_log" }
{ "log", "azimuth_position_safe_log" }
--
GitLab
From 0d755b73eab33223d6212a224573b97bada48012 Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Sun, 7 Apr 2024 21:16:34 +0200
Subject: [PATCH 8/9] Rename max_v_fac -> max_v_factor
---
controller/block/block_setpoint_generator_3d.c | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index cacd2ba..241d9e6 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -98,7 +98,7 @@ struct controller_block_private {
float cmd_x_out; /* float version of the internal cmd_x */
double cmd_v;
float max_x;
- float max_v_fac;
+ float max_v_factor;
float min_x;
float max_v;
float max_a;
@@ -255,9 +255,9 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
}
priv->cur_slow_mode = *priv->slow_mode;
if (priv->cur_slow_mode)
- priv->max_v_fac = 0.5;
+ priv->max_v_factor = 0.5;
else
- priv->max_v_fac = 1.0;
+ priv->max_v_factor = 1.0;
}
t_max_a = priv->t_max_a;
@@ -715,7 +715,7 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
v = v_after_ticks(priv, v, a, j, t);
/* If not already at the right jerk, set it */
- if (fabs(v) > priv->max_v_fac * priv->max_v && signbit(priv->cur_j) != signbit(j)) {
+ if (fabs(v) > priv->max_v_factor * priv->max_v && signbit(priv->cur_j) != signbit(j)) {
if (t <= 1) {
priv->cur_j = 0;
priv->cur_a = 0;
@@ -773,7 +773,7 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
priv->start_t = 0;
}
- if (fabs(cur_v) >= priv->max_v_fac * priv->max_v) {
+ if (fabs(cur_v) >= priv->max_v_factor * priv->max_v) {
/* prevent further acceleration beyond max v */
if (signbit(cur_v) == signbit(priv->cur_a)) {
priv->cur_a = 0.0;
@@ -781,7 +781,7 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
if (signbit(cur_v) == signbit(priv->cur_j)) {
priv->cur_j = 0.0;
}
- cur_v = copysign(priv->max_v_fac * priv->max_v, cur_v);
+ cur_v = copysign(priv->max_v_factor * priv->max_v, cur_v);
priv->start_j = priv->cur_j;
priv->start_a = priv->cur_a;
@@ -847,8 +847,8 @@ static int block_setpoint_generator_command_filter(struct controller_command *co
case COMMAND_PTYPE_SPEED: {
float value = entry->value.f;
- if (fabs(value) > priv->max_v_fac * priv->max_v_sec)
- value = copysign(priv->max_v_fac * priv->max_v_sec, value);
+ if (fabs(value) > priv->max_v_factor * priv->max_v_sec)
+ value = copysign(priv->max_v_factor * priv->max_v_sec, value);
entry->value.f = value;
@@ -1041,7 +1041,7 @@ static struct controller_block * block_setpoint_generator_3d_create(char *name,
spg->private->max_x = 0.0;
spg->private->min_x = 0.0;
spg->private->max_v = 0.0;
- spg->private->max_v_fac = 1.0;
+ spg->private->max_v_factor = 1.0;
spg->private->max_a = 0.0;
spg->private->inv_max_a = 1.0;
spg->private->max_j = 0.0;
--
GitLab
From 2c38b093f482b87bb2daeee05f4cd610546986d8 Mon Sep 17 00:00:00 2001
From: Tammo Jan Dijkema <T.J.Dijkema@gmail.com>
Date: Mon, 8 Apr 2024 11:18:41 +0200
Subject: [PATCH 9/9] Clarify log message
---
controller/block/block_setpoint_generator_3d.c | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/controller/block/block_setpoint_generator_3d.c b/controller/block/block_setpoint_generator_3d.c
index 241d9e6..5ca4324 100644
--- a/controller/block/block_setpoint_generator_3d.c
+++ b/controller/block/block_setpoint_generator_3d.c
@@ -250,7 +250,11 @@ static void setpoint_generator_3d_calculate(struct controller_block *spg)
if (fabs(cur_v) < 1.e-5) {
// Slow mode can only be changed when almost standing still
if (priv->cur_slow_mode != *priv->slow_mode) {
- log_send(LOG_T_WARNING, "Slow mode changed\n");
+ if (*priv->slow_mode) {
+ log_send(LOG_T_WARNING, "Slow mode activated\n");
+ } else {
+ log_send(LOG_T_WARNING, "Slow mode deactivated\n");
+ }
//log_send(LOG_T_WARNING, "cur_v = %5.8g!\n", cur_v);
}
priv->cur_slow_mode = *priv->slow_mode;
--
GitLab