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Fix phase_vel units

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This commit is contained in:
Oskar Weigl
2020-07-18 19:02:28 -07:00
parent e1b1641d70
commit 1808bedf1a
2 changed files with 6 additions and 4 deletions
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Firmware/MotorControl/axis.cpp
+3 -3
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@@ -315,7 +315,7 @@ bool Axis::run_closed_loop_control_loop() {
if (!controller_.update(&torque_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false;
float phase_vel = encoder_.vel_estimate_ * motor_.config_.pole_pairs;
float phase_vel = (2*M_PI) * encoder_.vel_estimate_ * motor_.config_.pole_pairs;
if (!motor_.update(torque_setpoint, encoder_.phase_, phase_vel))
return false; // set_error should update axis.error_
@@ -364,7 +364,7 @@ bool Axis::run_homing() {
if (!controller_.update(&torque_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false;
float phase_vel = encoder_.vel_estimate_ * motor_.config_.pole_pairs;
float phase_vel = (2*M_PI) * encoder_.vel_estimate_ * motor_.config_.pole_pairs;
if (!motor_.update(torque_setpoint, encoder_.phase_, phase_vel))
return false; // set_error should update axis.error_
@@ -393,7 +393,7 @@ bool Axis::run_homing() {
if (!controller_.update(&torque_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false;
float phase_vel = encoder_.vel_estimate_ * motor_.config_.pole_pairs;
float phase_vel = (2*M_PI) * encoder_.vel_estimate_ * motor_.config_.pole_pairs;
if (!motor_.update(torque_setpoint, encoder_.phase_, phase_vel))
return false; // set_error should update axis.error_