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Rename encoder.config.offset to phase_offset

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This commit is contained in:
Paul Guenette
2020-11-02 23:09:36 -05:00
parent b5753900da
commit 202d3d21e5
3 changed files with 11 additions and 11 deletions
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Firmware/MotorControl/encoder.cpp
+7 -7
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@@ -152,8 +152,8 @@ void Encoder::set_circular_count(int32_t count, bool update_offset) {
uint32_t prim = cpu_enter_critical();
if (update_offset) {
config_.offset += count - count_in_cpr_;
config_.offset = mod(config_.offset, config_.cpr);
config_.phase_offset += count - count_in_cpr_;
config_.phase_offset = mod(config_.phase_offset, config_.cpr);
}
// Update states
@@ -302,9 +302,9 @@ bool Encoder::run_offset_calibration() {
if (axis_->error_ != Axis::ERROR_NONE)
return false;
config_.offset = encvaluesum / (num_steps * 2);
int32_t residual = encvaluesum - ((int64_t)config_.offset * (int64_t)(num_steps * 2));
config_.offset_float = (float)residual / (float)(num_steps * 2) + 0.5f; // add 0.5 to center-align state to phase
config_.phase_offset = encvaluesum / (num_steps * 2);
int32_t residual = encvaluesum - ((int64_t)config_.phase_offset * (int64_t)(num_steps * 2));
config_.phase_offset_float = (float)residual / (float)(num_steps * 2) + 0.5f; // add 0.5 to center-align state to phase
is_ready_ = true;
return true;
@@ -568,7 +568,7 @@ bool Encoder::update() {
pos_circular_ = fmodf_pos(pos_circular_, axis_->controller_.config_.circular_setpoint_range);
//// run encoder count interpolation
int32_t corrected_enc = count_in_cpr_ - config_.offset;
int32_t corrected_enc = count_in_cpr_ - config_.phase_offset;
// if we are stopped, make sure we don't randomly drift
if (snap_to_zero_vel || !config_.enable_phase_interpolation) {
interpolation_ = 0.5f;
@@ -590,7 +590,7 @@ bool Encoder::update() {
//// compute electrical phase
//TODO avoid recomputing elec_rad_per_enc every time
float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / (float)(config_.cpr));
float ph = elec_rad_per_enc * (interpolated_enc - config_.offset_float);
float ph = elec_rad_per_enc * (interpolated_enc - config_.phase_offset_float);
// ph = fmodf(ph, 2*M_PI);
phase_ = wrap_pm_pi(ph);