Servo to analog range optimization#102

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papadako wants to merge 12 commits intohjd1964:mainfrom

papadako:servo-toAnalogRange-optimization

Commits on Oct 30, 2025

(servo): speed up DcServoDriver::toAnalogRange with cached scaling and float math; should be a lot faster and maybe with less jitter
papadako
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servo DC: optional zero-crossing hysteresis with immediate zero exit
papadako
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DC servo: add overflow-safe sigma–delta PWM dithering for sub-count resolution
papadako
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servo hysterisis: typo defined hysterisis things only if #ifdef SERVO_HYSTERESIS_ENABLE
papadako
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typos
papadako
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debugging messages
papadako
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servo DC toAnalogRange: previously for velocity = 0 we were offseting to pwmMin. Change it so that we map power to 0-pwmMax. If less than pwmMin then set it to pwmMin.
papadako
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typo
papadako
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servo DC: add more debugging messages for state of dithering / hysterisis
papadako
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servo DC: TODO note check with the calibration code whether the stiction breaking power can be reduced after the motor is moving
papadako
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camelCase
papadako
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Commits on Nov 2, 2025

servo(dc): tracking-only stiction kick when the motor was not moving or when changing direction. Implemented as a percentage over the min velocity
papadako
committed