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коэфи пида вновь приведены к диапзаону 0-6.5535, коэф Ki сделан независимым от dt

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Razvalyaev
2025-12-07 18:12:58 +03:00
parent 9234b4508b
commit 67be0b2304
7 changed files with 43 additions and 28 deletions
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6
MATLAB/app_wrapper/app_io.c
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@@ -175,9 +175,9 @@ void app_readInputs(const real_T* Buffer) {
MB_INTERNAL.param.nominal.U = ReadInputArray(2, 2) * 10;
MB_INTERNAL.param.nominal.I = ReadInputArray(2, 3) * 10;
MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 4) * 65535;
MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 5) * 65535;
/*MB_INTERNAL.param.angle.PID_Kd*/dbg_err_limit = ReadInputArray(2, 6);
MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 4) * 10000;
MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 5) * 10000;
MB_INTERNAL.param.angle.PID_Kd = ReadInputArray(2, 6) * 10000;
MB_INTERNAL.param.angle.Angle_Max = ReadInputArray(2, 7)/180 * 65535;
MB_INTERNAL.param.angle.Angle_Min = ReadInputArray(2, 8)/180 * 65535;