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better handling end of integration step

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This commit is contained in:
Peli de Halleux 2018-06-20 22:03:48 -07:00
parent f9a0729b63
commit 21025b5f83
1 changed files with 12 additions and 1 deletions
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13
sim/state/motornode.ts
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@ -150,7 +150,8 @@ namespace pxsim {
const step2 = this.speedCmdValues[2]; const step2 = this.speedCmdValues[2];
const step3 = this.speedCmdValues[3]; const step3 = this.speedCmdValues[3];
const brake = this.speedCmdValues[4]; const brake = this.speedCmdValues[4];
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed) const isTimeCommand = this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed;
const dstep = isTimeCommand
? pxsim.U.now() - this.speedCmdTime ? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho; : this.tacho - this.speedCmdTacho;
if (dstep < step1) // rampup if (dstep < step1) // rampup
@ -161,6 +162,16 @@ namespace pxsim {
this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3); this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3);
else { else {
if (brake) this.speed = 0; if (brake) this.speed = 0;
if (!isTimeCommand) {
// we need to patch the actual position of the motor when
// finishing the move as our integration step introduce errors
const deltaAngle = -Math.sign(speed) * (dstep - (step1 + step2 + step3));
if (deltaAngle) {
this.angle += deltaAngle;
this.tacho -= Math.abs(deltaAngle);
this.setChangedState();
}
}
this.clearSpeedCmd(); this.clearSpeedCmd();
} }
break; break;