kaidokert / rm32 / 25190758151

63%

Build Type

push

github

Committed by web-flow

Commit Message

Adopt PidState into MainState, remove 8 loose PID fields (#16)

* Adopt PidState into MainState, remove 8 loose PID fields

MainState had 8 PID-related fields scattered as loose scalars
(current_pid, speed_pid, stall_pid, use_current_limit, etc.) while
PidState in control/state.rs already defined the correct decomposition.

Consolidate into MainState::pid: PidState. Add stall_protect_target_interval
and target_e_com_time to PidState where they belong. Delete the
duplicated loose fields from MainState.

Also converts the test helper make_test_main_state() to use the shared
MainState::new() constructor instead of manual field init.

* Reset current PID state when gains change in apply_motor_config

apply_motor_config can be called at runtime (harness load_eeprom),
so accumulated integral/error from old gains could cause output
spikes with new gains. Call pid.current.reset() after updating gains.

Coverage Stats

12 of 35 new or added lines in 3 files covered. (34.29%)

1 existing line in 1 file now uncovered.

3267 of 5284 relevant lines covered (61.83%)

596.34 hits per line