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servo WIP

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This commit is contained in:
Sébastien Bourdeauducq 2025-01-20 21:01:49 +08:00
parent 8e90a3b420
commit d59c904688
1 changed files with 37 additions and 7 deletions
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44
sndlock.cpp
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@ -258,7 +258,7 @@ static std::atomic<float> init_current_cooling[SND_PCHAN];
static std::atomic<float> init_current_heating[SND_PCHAN]; static std::atomic<float> init_current_heating[SND_PCHAN];
static std::atomic<float> init_temp[SND_PCHAN]; static std::atomic<float> init_temp[SND_PCHAN];
static std::atomic<float> leadin_current[SND_PCHAN]; static std::atomic<float> leadin_current[SND_PCHAN];
static std::atomic<float> leadin_temp[SND_PCHAN]; static std::atomic<float> leadin_mag[SND_PCHAN];
static void servo_thread(int channel) static void servo_thread(int channel)
{ {
@ -276,6 +276,34 @@ static void servo_thread(int channel)
} }
servo_state[channel] = "INIT"; servo_state[channel] = "INIT";
if(temp > init_temp[channel]) {
kirdy.set_tec_current(init_current_cooling[channel]);
while(servo_enable[channel] && temp > init_temp[channel]) {
clocker.tick();
laser_temp[channel] = temp = kirdy.get_laser_temp();
}
} else {
kirdy.set_tec_current(init_current_heating[channel]);
while(servo_enable[channel] && temp < init_temp[channel]) {
clocker.tick();
laser_temp[channel] = temp = kirdy.get_laser_temp();
}
}
if(!servo_enable[channel])
continue;
servo_state[channel] = "LEAD-IN";
kirdy.set_tec_current(leadin_current[channel]);
while(servo_enable[channel] && li_mag[channel] < leadin_mag[channel]) {
clocker.tick();
laser_temp[channel] = temp = kirdy.get_laser_temp();
}
servo_state[channel] = "LOCKING";
while(servo_enable[channel]) {
clocker.tick();
laser_temp[channel] = temp = kirdy.get_laser_temp();
}
} }
} }
@ -321,10 +349,10 @@ int main(int argc, char* argv[])
lpf_bandwidth[i] = 10.0; lpf_bandwidth[i] = 10.0;
servo_state[i] = "DISABLED"; servo_state[i] = "DISABLED";
init_current_cooling[i] = 100.0f; init_current_cooling[i] = 100.0f;
init_current_heating[i] = 30.0f; init_current_heating[i] = -30.0f;
init_temp[i] = 25.0f; init_temp[i] = 25.0f;
leadin_current[i] = 100.0f; leadin_current[i] = 100.0f;
leadin_temp[i] = 24.0f; leadin_mag[i] = 0.01f;
} }
static std::thread dsp_thread_h = std::thread(dsp_thread); static std::thread dsp_thread_h = std::thread(dsp_thread);
@ -344,6 +372,8 @@ int main(int argc, char* argv[])
shutdown_threads = false; shutdown_threads = false;
static auto SetShutdown = []() { static auto SetShutdown = []() {
for(int i=0;i<SND_PCHAN;i++)
servo_enable[i] = false;
shutdown_threads = true; shutdown_threads = true;
}; };
std::atexit(SetShutdown); std::atexit(SetShutdown);
@ -492,10 +522,10 @@ int main(int argc, char* argv[])
ImGui::InputFloat(str, &leadin_current_l, 1.0f, 500.0f, "%.3f"); ImGui::InputFloat(str, &leadin_current_l, 1.0f, 500.0f, "%.3f");
leadin_current[i] = leadin_current_l; leadin_current[i] = leadin_current_l;
ImGui::SameLine(); ImGui::SameLine();
sprintf(str, "temp °C##leadin%d", i); sprintf(str, "magnitude##%d", i);
float leadin_temp_l = leadin_temp[i]; float leadin_mag_l = leadin_mag[i];
ImGui::InputFloat(str, &leadin_temp_l, 1.0f, 500.0f, "%.4f"); ImGui::InputFloat(str, &leadin_mag_l, 0.0f, 0.001f, "%.6f");
leadin_temp[i] = leadin_temp_l; leadin_mag[i] = leadin_mag_l;
ImGui::PopItemWidth(); ImGui::PopItemWidth();
} }
} }