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move inertia to controller

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Oskar Weigl
2018-12-02 18:24:38 -08:00
parent 3113aedf08
commit 1df442fd9d
5 changed files with 10 additions and 7 deletions
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Firmware/MotorControl/controller.cpp
+1 -1
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@@ -113,7 +113,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
TrapezoidalTrajectory::Step_t traj_step = axis_->trap_.eval(t);
pos_setpoint_ = traj_step.Y;
vel_setpoint_ = traj_step.Yd;
current_setpoint_ = traj_step.Ydd * axis_->trap_.config_.A_per_css;
current_setpoint_ = traj_step.Ydd * config_.inertia;
}
anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
}