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Fix input_filter integration issues

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This commit is contained in:
Paul Guenette
2019-05-25 14:07:44 +02:00
parent bfa4c154bc
commit 104e4413c9
4 changed files with 16 additions and 7 deletions
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Firmware/MotorControl/axis.cpp
+4 -1
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@@ -288,7 +288,10 @@ bool Axis::run_closed_loop_control_loop() {
if (homing_state_ == HOMING_STATE_HOMING) {
if (min_endstop_.getEndstopState()) {
encoder_.set_linear_count(min_endstop_.config_.offset);
controller_.set_pos_setpoint(0.0f, 0.0f, 0.0f);
controller_.pos_setpoint_ = 0.0f;
controller_.vel_setpoint_ = 0.0f;
controller_.current_setpoint_ = 0.0f;
controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
homing_state_ = HOMING_STATE_MOVE_TO_ZERO;
}
} else if (homing_state_ == HOMING_STATE_MOVE_TO_ZERO) {
Firmware/MotorControl/controller.cpp
+4 -1
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@@ -59,7 +59,10 @@ void Controller::start_anticogging_calibration() {
// When pressed, set the linear count to the offset (default 0), and then
bool Controller::home_axis() {
if (axis_->min_endstop_.config_.enabled) {
set_vel_setpoint(-config_.homing_speed, 0.0f);
config_.control_mode = CTRL_MODE_VELOCITY_CONTROL;
pos_setpoint_ = 0.0f;
vel_setpoint_ = -config_.homing_speed;
current_setpoint_ = 0.0f;
axis_->homing_state_ = HOMING_STATE_HOMING;
} else {
return false;
Firmware/MotorControl/controller.hpp
+1 -1
View File
@@ -133,7 +133,7 @@ public:
make_protocol_property("vel_limit", &config_.vel_limit),
make_protocol_property("vel_limit_tolerance", &config_.vel_limit_tolerance),
make_protocol_property("vel_ramp_rate", &config_.vel_ramp_rate),
make_protocol_property("homing_speed", &config_.homing_speed)
make_protocol_property("homing_speed", &config_.homing_speed),
make_protocol_property("inertia", &config_.inertia),
make_protocol_property("input_filter_bandwidth", &config_.input_filter_bandwidth,
[](void* ctx) { static_cast<Controller*>(ctx)->update_filter_gains(); }, this)
Firmware/communication/can_simple.cpp
+7 -4
View File
@@ -280,15 +280,18 @@ void CANSimple::move_to_pos_callback(Axis* axis, can_Message_t& msg) {
}
void CANSimple::set_pos_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.set_pos_setpoint(can_getSignal<int32_t>(msg, 0, 32, true, 1, 0), can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0), can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0));
axis->controller_.pos_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 1, 0);
axis->controller_.vel_setpoint_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0);
axis->controller_.current_setpoint_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0);
}
void CANSimple::set_vel_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.set_vel_setpoint(can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f), can_getSignal<int32_t>(msg, 4, 32, true, 0.01f, 0.0f));
axis->controller_.vel_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f);
axis->controller_.current_setpoint_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.01f, 0.0f);
}
void CANSimple::set_current_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.set_current_setpoint(can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0));
axis->controller_.current_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0);
}
void CANSimple::set_vel_limit_callback(Axis* axis, can_Message_t& msg) {
@@ -309,7 +312,7 @@ void CANSimple::set_traj_accel_limits_callback(Axis* axis, can_Message_t& msg) {
}
void CANSimple::set_traj_A_per_css_callback(Axis* axis, can_Message_t& msg) {
axis->trap_.config_.A_per_css = can_getSignal<float>(msg, 0, 32, true, 1, 0);
axis->controller_.config_.inertia = can_getSignal<float>(msg, 0, 32, true, 1, 0);
}
void CANSimple::get_iq_callback(Axis* axis, can_Message_t& msg) {