lenn/ts-qt
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat:data slove and update heatmap

Browse Source
This commit is contained in:
lenn
2025-10-29 14:09:28 +08:00
parent c50b44efe2
commit c6cef3d89d
200 changed files with 100674 additions and 52814 deletions
Download Patch File Download Diff File Expand all files Collapse all files

188
modern-qt/utility/animation/state/pid.hh
View File

@@ -1,94 +1,94 @@
#pragma once
#include "modern-qt/utility/animation/math.hh"
#include "modern-qt/utility/animation/state/accessor.hh"
#include <chrono>
namespace creeper {
template <typename T>
struct PidState : public NormalAccessor {
using ValueT = T;
using Clock = std::chrono::steady_clock;
using TimePoint = Clock::time_point;
T value = animate::zero<T>();
T target = animate::zero<T>();
struct {
double kp = 1.0;
double ki = 0.0;
double kd = 0.1;
double epsilon = 1e-3;
} config;
struct {
T integral_error = animate::zero<T>();
T last_error = animate::zero<T>();
TimePoint last_timestamp;
} details;
auto set_target(T new_target) noexcept -> void {
target = new_target;
const auto current_time = Clock::now();
using namespace std::chrono_literals;
const auto threshold = 16ms;
const auto elapsed_time = current_time - details.last_timestamp;
if (elapsed_time > threshold) {
details.last_error = target - value;
details.last_timestamp = current_time;
}
}
auto update() noexcept -> bool {
const auto kp = config.kp;
const auto ki = config.ki;
const auto kd = config.kd;
const auto now = Clock::now();
const auto duration = now - details.last_timestamp;
const auto dt = std::chrono::duration<double>(duration).count();
if (dt <= 0.0) {
details.last_timestamp = now;
return animate::magnitude(target - value) > config.epsilon;
}
const auto current_error = target - value;
if (animate::magnitude(current_error) <= config.epsilon
&& animate::magnitude(details.last_error) <= config.epsilon) {
value = target;
details.integral_error = animate::zero<T>();
details.last_error = animate::zero<T>();
details.last_timestamp = now;
return false;
}
const auto proportional_term = kp * current_error;
details.integral_error += current_error * dt;
const auto integral_term = ki * details.integral_error;
const auto derivative_error = (current_error - details.last_error) / dt;
const auto derivative_term = kd * derivative_error;
const auto output = proportional_term + integral_term + derivative_term;
value += output * dt;
details.last_error = current_error;
details.last_timestamp = now;
return true;
}
};
}
#pragma once
#include "modern-qt/utility/animation/math.hh"
#include "modern-qt/utility/animation/state/accessor.hh"
#include <chrono>
namespace creeper {
template <typename T>
struct PidState : public NormalAccessor {
using ValueT = T;
using Clock = std::chrono::steady_clock;
using TimePoint = Clock::time_point;
T value = animate::zero<T>();
T target = animate::zero<T>();
struct {
double kp = 1.0;
double ki = 0.0;
double kd = 0.1;
double epsilon = 1e-3;
} config;
struct {
T integral_error = animate::zero<T>();
T last_error = animate::zero<T>();
TimePoint last_timestamp;
} details;
auto set_target(T new_target) noexcept -> void {
target = new_target;
const auto current_time = Clock::now();
using namespace std::chrono_literals;
const auto threshold = 16ms;
const auto elapsed_time = current_time - details.last_timestamp;
if (elapsed_time > threshold) {
details.last_error = target - value;
details.last_timestamp = current_time;
}
}
auto update() noexcept -> bool {
const auto kp = config.kp;
const auto ki = config.ki;
const auto kd = config.kd;
const auto now = Clock::now();
const auto duration = now - details.last_timestamp;
const auto dt = std::chrono::duration<double>(duration).count();
if (dt <= 0.0) {
details.last_timestamp = now;
return animate::magnitude(target - value) > config.epsilon;
}
const auto current_error = target - value;
if (animate::magnitude(current_error) <= config.epsilon
&& animate::magnitude(details.last_error) <= config.epsilon) {
value = target;
details.integral_error = animate::zero<T>();
details.last_error = animate::zero<T>();
details.last_timestamp = now;
return false;
}
const auto proportional_term = kp * current_error;
details.integral_error += current_error * dt;
const auto integral_term = ki * details.integral_error;
const auto derivative_error = (current_error - details.last_error) / dt;
const auto derivative_term = kd * derivative_error;
const auto output = proportional_term + integral_term + derivative_term;
value += output * dt;
details.last_error = current_error;
details.last_timestamp = now;
return true;
}
};
}