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Rename pll_vel to vel_estimate

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2018-08-23 22:26:26 -04:00
parent cf9cf854a4
commit 14e917171d
6 changed files with 27 additions and 27 deletions
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Firmware/MotorControl/encoder.cpp
+7 -7
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@@ -288,8 +288,8 @@ bool Encoder::update() {
//// run pll (for now pll is in units of encoder counts)
// Predict current pos
pos_estimate_ += current_meas_period * pll_vel_;
pos_cpr_ += current_meas_period * pll_vel_;
pos_estimate_ += current_meas_period * vel_estimate_;
pos_cpr_ += current_meas_period * vel_estimate_;
// discrete phase detector
float delta_pos = (float)(shadow_count_ - (int32_t)floorf(pos_estimate_));
float delta_pos_cpr = (float)(count_in_cpr_ - (int32_t)floorf(pos_cpr_));
@@ -298,10 +298,10 @@ bool Encoder::update() {
pos_estimate_ += current_meas_period * pll_kp * delta_pos;
pos_cpr_ += current_meas_period * pll_kp * delta_pos_cpr;
pos_cpr_ = fmodf_pos(pos_cpr_, (float)(config_.cpr));
pll_vel_ += current_meas_period * pll_ki * delta_pos_cpr;
vel_estimate_ += current_meas_period * pll_ki * delta_pos_cpr;
bool snap_to_zero_vel = false;
if (fabsf(pll_vel_) < 0.5f * current_meas_period * pll_ki) {
pll_vel_ = 0.0f; //align delta-sigma on zero to prevent jitter
if (fabsf(vel_estimate_) < 0.5f * current_meas_period * pll_ki) {
vel_estimate_ = 0.0f; //align delta-sigma on zero to prevent jitter
snap_to_zero_vel = true;
}
@@ -316,8 +316,8 @@ bool Encoder::update() {
} else if (delta_enc < 0) {
interpolation_ = 1.0f;
} else {
// Interpolate (predict) between encoder counts using pll_vel,
interpolation_ += current_meas_period * pll_vel_;
// Interpolate (predict) between encoder counts using vel_estimate,
interpolation_ += current_meas_period * vel_estimate_;
// don't allow interpolation indicated position outside of [enc, enc+1)
if (interpolation_ > 1.0f) interpolation_ = 1.0f;
if (interpolation_ < 0.0f) interpolation_ = 0.0f;