private void Excute(float current, float target)
{
if (currentTar == target)
{
return;
}
currentTar = target;
currentId++;
int ownId = currentId;
bool reverse = false;
if (target < current)
{
var buf = target;
target = current;
current = buf;
reverse = true;
}
//重置
ActualSpeed = current;
err = 0;
err_last = 0;
err_next = 0;
float lastResult = current;
float currentResult;
while (Math.Abs(target - (currentResult = PIDCaculate(target))) > 0.1 && ownId == currentId)
{
ActualSpeed = currentResult;
if (reverse)
{
PIDOutEvent_Float?.Invoke(target - currentResult);
if ((int)lastResult < (int)currentResult)
{
PIDOutEvent_Int?.Invoke(target - currentResult);
}
}
else
{
PIDOutEvent_Float?.Invoke(currentResult);
if ((int)lastResult < (int)currentResult)
{
PIDOutEvent_Int?.Invoke(currentResult);
}
}
lastResult = currentResult;
}
if (ownId == currentId && !reverse)
{
PIDOutEvent_Float?.Invoke(target);
PIDOutEvent_Int?.Invoke(target);
}
if (ownId == currentId && reverse)
{
PIDOutEvent_Float?.Invoke(current);
PIDOutEvent_Int?.Invoke(current);
}
}
private void Excute(float current, float target)
{
if (currentTar == target)
{
return;
}
float originTar = current;
bool reverse = false;
if (target < current)
{
target = current - target;
current = 0;
reverse = true;
}
currentTar = target;
//重置
ActualSpeed = current;
err_last = err_next = 0;
float lastResult = current;
float currentResult;
while (Math.Abs(target - (currentResult = PIDCaculate(target))) > 0.1 && currentTar == target)
{
if (reverse)
{
PIDOutEvent_Float?.Invoke(originTar - currentResult);
if ((int)lastResult < (int)currentResult)
{
PIDOutEvent_Int?.Invoke(originTar - currentResult);
}
}
else
{
PIDOutEvent_Float?.Invoke(currentResult);
if ((int)lastResult < (int)currentResult)
{
PIDOutEvent_Int?.Invoke(currentResult);
}
}
lastResult = currentResult;
}
if (currentTar == target && !reverse)
{
PIDOutEvent_Float?.Invoke(target);
PIDOutEvent_Int?.Invoke(target);
}
else if (currentTar == target && reverse)
{
PIDOutEvent_Float?.Invoke(current);
PIDOutEvent_Int?.Invoke(current);
}
}
