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feat: quaternion relative

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minco
2025-06-12 16:16:51 +09:00
parent ba1b18febe
commit 7f4cb6daec
3 changed files with 64 additions and 9 deletions
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9
src/pid.ts
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@@ -2,7 +2,7 @@ export interface PIDParameters {
kP: number;
kI: number;
kD: number;
errorWrap?: (error: number) => number;
calculateError?: (setpoint: number, measuredValue: number) => number;
}
export type PIDReport = {
@@ -46,10 +46,9 @@ export class PID {
public update(measuredValue: number): number {
const currentTime = os.epoch("utc");
const rawError = this.setpoint - measuredValue;
const error = this.params.errorWrap
? this.params.errorWrap(rawError)
: rawError;
const error = this.params.calculateError
? this.params.calculateError(this.setpoint, measuredValue)
: this.setpoint - measuredValue;
let deltaTime = 0;
if (this.lastTime !== null) {