kaidokert / rm32

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Build # 25195830425

Build Type

Pull #23

github

Committed by kaidokert

Commit Message

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.

Pull Request Pull Request #23: Make Pid and PidState fields private, extract tick methods

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