Commit Graph

8 Commits

Author SHA1 Message Date
melfely 3df2334b10 Changed over to async functions
changed over all the classes in these files to use async based methods
rather than non. This SHOULD make the system more reliable with embassy
in the future, and hopefully prevent issues with blocking code and the
way embassy works.
2026-06-14 14:24:08 -05:00
melfely 16107036e7 Changed internal PID math
The system new reduces itself by 1000 internally before output,
hopefully making the precision much higher (IE NOT needing to use tiny
ass inputs to make anything reasonable)
2026-06-13 13:53:22 -05:00
melfely f9bf19936b Added derive fields to the Data and PID struct 2026-06-09 19:14:40 -05:00
melfely b79f5af105 remove .abs from PID output 2026-06-07 14:19:03 -05:00
melfely 851ea6c370 PID fixes.
There was no way to create a PID, becuase of the private fields

I also fixed a divide by 0.0 bug that was 100% going to bite me later if I did not.
2026-06-07 13:32:20 -05:00
melfely 15c0512fef Added a comment for PID struct 2026-06-07 12:50:15 -05:00
melfely 897678bb26 Added derive for PID config fields.
This is so these config fields can be stored as JSON
2026-06-07 12:43:57 -05:00
melfely 2eae22cb9b Added main logic for PID system and motor system
Quite a bit of the important logic bits have been added for the Controller Trait, and the PID system.
2026-06-07 00:35:15 -05:00