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debug speed control algorithm #7

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Jan Beníček 2025-01-15 09:54:47 +01:00
parent da03e7b0ea
commit 625474dbe8
1 changed files with 6 additions and 6 deletions
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12
scripts/speed_controller.py
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@ -84,32 +84,32 @@ def rpm_control():
#algorithm for RPM control #algorithm for RPM control
if (requested_rpm - float(get_variable(variable_control_step_rpm))) > actual_rpm: if (requested_rpm - float(get_variable(variable_control_step_rpm))) > actual_rpm:
set_output(actual_set_U + float(variable_control_step_U)) set_output(actual_set_U + float(get_variable(variable_control_step_U)))
printer("(requested_rpm - float(get_variable(variable_control_step_rpm))) > actual_rpm") printer("(requested_rpm - float(get_variable(variable_control_step_rpm))) > actual_rpm")
return return
elif (requested_rpm + float(get_variable(variable_control_step_rpm))) < actual_rpm: elif (requested_rpm + float(get_variable(variable_control_step_rpm))) < actual_rpm:
set_output(actual_set_U - float(variable_control_step_U)) set_output(actual_set_U - float(get_variable(variable_control_step_U)))
printer("(requested_rpm + float(get_variable(variable_control_step_rpm))) < actual_rpm") printer("(requested_rpm + float(get_variable(variable_control_step_rpm))) < actual_rpm")
return return
if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) > actual_rpm: if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) > actual_rpm:
set_output(actual_set_U + float(variable_control_step_U_1)) set_output(actual_set_U + float(get_variable(variable_control_step_U_1)))
printer("(requested_rpm - float(get_variable(variable_control_step_rpm_1))) > actual_rpm") printer("(requested_rpm - float(get_variable(variable_control_step_rpm_1))) > actual_rpm")
return return
elif (requested_rpm + float(get_variable(variable_control_step_rpm_1))) < actual_rpm: elif (requested_rpm + float(get_variable(variable_control_step_rpm_1))) < actual_rpm:
set_output(actual_set_U - float(variable_control_step_U_1)) set_output(actual_set_U - float(get_variable(variable_control_step_U_1)))
printer("(requested_rpm + float(get_variable(variable_control_step_rpm_1))) < actual_rpm") printer("(requested_rpm + float(get_variable(variable_control_step_rpm_1))) < actual_rpm")
return return
if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) > actual_rpm: if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) > actual_rpm:
set_output(actual_set_U + float(variable_control_step_U_2)) set_output(actual_set_U + float(get_variable(variable_control_step_U_2)))
printer("(requested_rpm - float(get_variable(variable_control_step_rpm_2))) > actual_rpm") printer("(requested_rpm - float(get_variable(variable_control_step_rpm_2))) > actual_rpm")
return return
elif (requested_rpm + float(get_variable(variable_control_step_rpm_2))) < actual_rpm: elif (requested_rpm + float(get_variable(variable_control_step_rpm_2))) < actual_rpm:
set_output(actual_set_U - float(variable_control_step_U_2)) set_output(actual_set_U - float(get_variable(variable_control_step_U_2)))
printer("(requested_rpm + float(get_variable(variable_control_step_rpm_2))) < actual_rpm") printer("(requested_rpm + float(get_variable(variable_control_step_rpm_2))) < actual_rpm")
return return