kaidokert / rm32 / 25196902395

63%

Build Type

push

github

Committed by web-flow

Commit Message

Make Pid and PidState fields private, extract tick methods (#23)

* Make Pid fields private, add set_gains() method

Pid struct fields were pub(crate) but only accessed directly from
main_state.rs for gain updates and integral reset. Replace with:
- set_gains(kp, ki, kd) — updates gains and resets accumulated state
- reset() — already existed, now used instead of direct integral = 0

Also make Commutation::intervals private — only accessed via
record_interval() method.

* Make PidState fields fully private, extract tick methods

Move stall/current-limit/speed PID logic from MainState::tick() into
PidState methods: tick_stall(), tick_current_limit(), tick_speed_control().
All PidState fields are now private — access only through methods.

MainState::tick() PID section shrinks from 30 lines to 15, calling
3 methods that each return a value to publish to SharedComm.

* Add unit tests for PidState tick methods, mirroring C test_tenkhz.cpp

10 tests covering stall, current limit, and speed control PID ticks:
- current_limit_pid_reduces_ceiling_when_over_target (mirrors C test)
- current_limit_pid_clamps_to_min_duty
- current_limit_pid_resets_when_inactive
- stall_pid_boosts_when_interval_above_target (mirrors C test)
- stall_pid_clamps_to_150
- stall_pid_clamps_to_zero
- speed_control_inactive_returns_none
- speed_control_not_running_returns_none
- speed_control_active_returns_override
- speed_control_works_during_startup

* Fix 3 review issues: clear_integral, zc snapshot, target_e_com_time setter

- Add Pid::clear_integral() that only zeros integral (matching C
  behavior). Speed control was using reset() which also cleared
  derivative state — behavioral change from C.
- Pass captured zc snapshot to tick_speed_control instead of reading
  shared.zero_crosses() directly, which could change mid-tick via
  desync reset.
- Add PidState::set_target_e_com_time() — field was private with no
  setter, leaving speed PID target stuck at 0.

Coverage Stats

146 of 161 new or added lines in 4 files covered. (90.68%)

2 existing lines in 1 file now uncovered.

3338 of 5322 relevant lines covered (62.72%)

642.91 hits per line