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elec_rad_per_enc also evaluated in check CPR

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Oskar Weigl
2018-02-25 23:54:17 -08:00
parent 2ed8d17fb8
commit 037f715dc2
1 changed files with 3 additions and 0 deletions
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Firmware/MotorControl/low_level.c
+3
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@@ -805,6 +805,8 @@ bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
encvaluesum += (int16_t)motor->encoder.encoder_timer->Instance->CNT;
}
//TODO avoid recomputing elec_rad_per_enc every time
float elec_rad_per_enc = motor->pole_pairs * 2 * M_PI * (1.0f / (float)(motor->encoder.encoder_cpr));
float expected_encoder_delta = scan_range / elec_rad_per_enc;
float actual_encoder_delta_abs = fabsf((int16_t)motor->encoder.encoder_timer->Instance->CNT-init_enc_val);
if(fabsf(actual_encoder_delta_abs - expected_encoder_delta)/expected_encoder_delta > motor->encoder.encoder_calib_range)
@@ -975,6 +977,7 @@ void update_rotor(Motor_t* motor) {
int corrected_enc = encoder->encoder_state % motor->encoder.encoder_cpr;
corrected_enc -= encoder->encoder_offset;
corrected_enc *= encoder->motor_dir;
//TODO avoid recomputing elec_rad_per_enc every time
float elec_rad_per_enc = motor->pole_pairs * 2 * M_PI * (1.0f / (float)(motor->encoder.encoder_cpr));
float ph = elec_rad_per_enc * (float)corrected_enc;
// ph = fmodf(ph, 2*M_PI);