Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-25 11:06:48 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Small updates to endstops & homing

Browse Source
This commit is contained in:
Paul Guenette
2020-10-13 22:41:37 -04:00
parent 75a3cb69d3
commit 101f78dcd9
3 changed files with 16 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/axis.cpp
+3 -2
View File
@@ -189,9 +189,9 @@ bool Axis::do_checks() {
// controller_.do_checks();
// Check for endstop presses
if (min_endstop_.config_.enabled && min_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) {
if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
error_ |= ERROR_MIN_ENDSTOP_PRESSED;
} else if (max_endstop_.config_.enabled && max_endstop_.get_state() && !(current_state_ == AXIS_STATE_HOMING)) {
} else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
error_ |= ERROR_MAX_ENDSTOP_PRESSED;
}
@@ -410,6 +410,7 @@ bool Axis::run_homing() {
// Avoid integrator windup issues
controller_.vel_integrator_torque_ = 0.0f;
// Driving toward the endstop
run_control_loop([this](){
// Note that all estimators are updated in the loop prefix in run_control_loop
float torque_setpoint;