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Work on sensor

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This commit is contained in:
Johnathon Slightham
2026-01-08 15:46:39 -05:00
parent f1b7c6fced
commit c289a641df
14 changed files with 165 additions and 67 deletions
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11
main/control/DCMotorActuator.cpp
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@@ -1,3 +1,5 @@
#include <cmath>
#include "control/DCMotorActuator.h"
#include "esp_attr.h"
#include "util/number_utils.h"
@@ -104,9 +106,9 @@ void DCMotorActuator::pid_task(char* args) {
const auto that = reinterpret_cast<DCMotorActuator*>(args);
while (true) {
const double degrees = (encoder_ticks * 360.0) / (GEAR_RATIO * TICKS_PER_ROTATION);
that->m_current_angle = (encoder_ticks * 360.0) / (GEAR_RATIO * TICKS_PER_ROTATION);
const double error = degrees - that->m_target_angle;
const double error = that->m_current_angle - that->m_target_angle;
that->m_integral += error * KI;
const double detivative = (error - that->m_last_error) * KD;
that->m_last_error = error;
@@ -146,3 +148,8 @@ void DCMotorActuator::pid_task(char* args) {
vTaskDelay(75 / portTICK_PERIOD_MS);
}
}
std::vector<Flatbuffers::SensorValueInstance> DCMotorActuator::get_sensor_data() {
// todo: this really needs to return a int32, should also return two sensor data items, one for target one for current
return {{(uint16_t)(m_current_angle)}};
}