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Fix load encoder issues

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Fixes #651
This commit is contained in:
Paul Guenette
2022-09-21 20:25:46 -07:00
committed by Paul Guenette
parent 5f9b45e080
commit 073da34a02
2 changed files with 6 additions and 2 deletions
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Firmware/MotorControl/axis.cpp
+4
View File
@@ -423,6 +423,10 @@ bool Axis::run_homing() {
// Set the current position to 0, the target to zero, and make sure we're path planning from 0 to 0
encoder_.set_linear_count(0);
const auto load_encoder_axis = controller_.config_.load_encoder_axis;
if(load_encoder_axis != axis_num_ && load_encoder_axis < AXIS_COUNT) {
axes[load_encoder_axis].encoder_.set_linear_count(0);
}
controller_.input_pos_ = 0.0f;
controller_.pos_setpoint_ = 0.0f;
controller_.vel_setpoint_ = 0.0f;
Firmware/communication/can/can_simple.cpp
+2 -2
View File
@@ -237,8 +237,8 @@ bool CANSimple::get_encoder_estimates_callback(const Axis& axis) {
txmsg.isExt = axis.config_.can.is_extended;
txmsg.len = 8;
can_setSignal<float>(txmsg, axis.encoder_.pos_estimate_.any().value_or(0.0f), 0, 32, true);
can_setSignal<float>(txmsg, axis.encoder_.vel_estimate_.any().value_or(0.0f), 32, 32, true);
can_setSignal<float>(txmsg, axis.controller_.pos_estimate_linear_src_.any().value_or(0.0f), 0, 32, true);
can_setSignal<float>(txmsg, axis.controller_.vel_estimate_src_.any().value_or(0.0f), 32, 32, true);
return canbus_->send_message(txmsg);
}