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debug speed control algorithm #6

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This commit is contained in:
Jan Beníček 2025-01-15 09:28:39 +01:00
parent e781905912
commit 4e8698069b
1 changed files with 17 additions and 17 deletions
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34
scripts/speed_controller.py
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@ -89,20 +89,12 @@ def rpm_control():
return return
#algorithm for RPM control #algorithm for RPM control
if ((requested_rpm - float(get_variable(variable_control_step_rpm))) < actual_rpm) or (actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm)))): if (requested_rpm - float(get_variable(variable_control_step_rpm_3))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_3))):
if requested_rpm < actual_rpm: if requested_rpm < actual_rpm:
set_output(actual_set_U - float(get_variable(variable_control_step_U))) set_output(actual_set_U - float(get_variable(variable_control_step_U_3)))
elif requested_rpm > actual_rpm: elif requested_rpm > actual_rpm:
set_output(actual_set_U + float(get_variable(variable_control_step_U))) set_output(actual_set_U + float(get_variable(variable_control_step_U_3)))
print("control_1") print("control_4")
return
if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_1))):
if requested_rpm < actual_rpm:
set_output(actual_set_U - float(get_variable(variable_control_step_U_1)))
elif requested_rpm > actual_rpm:
set_output(actual_set_U + float(get_variable(variable_control_step_U_1)))
print("control_2")
return return
if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_2))): if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_2))):
@ -112,13 +104,21 @@ def rpm_control():
set_output(actual_set_U + float(get_variable(variable_control_step_U_2))) set_output(actual_set_U + float(get_variable(variable_control_step_U_2)))
print("control_3") print("control_3")
return return
if (requested_rpm - float(get_variable(variable_control_step_rpm_3))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_3))): if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_1))):
if requested_rpm < actual_rpm: if requested_rpm < actual_rpm:
set_output(actual_set_U - float(get_variable(variable_control_step_U_3))) set_output(actual_set_U - float(get_variable(variable_control_step_U_1)))
elif requested_rpm > actual_rpm: elif requested_rpm > actual_rpm:
set_output(actual_set_U + float(get_variable(variable_control_step_U_3))) set_output(actual_set_U + float(get_variable(variable_control_step_U_1)))
print("control_4") print("control_2")
return
if ((requested_rpm - float(get_variable(variable_control_step_rpm))) < actual_rpm) or (actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm)))):
if requested_rpm < actual_rpm:
set_output(actual_set_U - float(get_variable(variable_control_step_U)))
elif requested_rpm > actual_rpm:
set_output(actual_set_U + float(get_variable(variable_control_step_U)))
print("control_1")
return return
print("empty_run") print("empty_run")