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Fix for high commanded currents during lockin ramp.

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This commit is contained in:
PAJohnson
2020-09-10 19:48:36 -04:00
parent f691536b3c
commit 28b40c9bd4
4 changed files with 14 additions and 11 deletions
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Firmware/MotorControl/axis.cpp
+4 -4
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@@ -234,9 +234,9 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
float x = 0.0f;
run_control_loop([&]() {
float phase = wrap_pm_pi(lockin_config.ramp_distance * x);
float I_mag = lockin_config.current * x;
float torque = lockin_config.current * motor_.config_.torque_constant * x;
x += current_meas_period / lockin_config.ramp_time;
if (!motor_.update(I_mag, phase, 0.0f))
if (!motor_.update(torque, phase, 0.0f))
return false;
return x < 1.0f;
});
@@ -265,7 +265,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
distance += vel * current_meas_period;
phase = wrap_pm_pi(phase + vel * current_meas_period);
if (!motor_.update(lockin_config.current, phase, vel))
if (!motor_.update(lockin_config.current * motor_.config_.torque_constant, phase, vel))
return false;
return !spin_done(true); //vel_override to go to next phase
});
@@ -281,7 +281,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
distance += vel * current_meas_period;
phase = wrap_pm_pi(phase + vel * current_meas_period);
if (!motor_.update(lockin_config.current, phase, vel))
if (!motor_.update(lockin_config.current * motor_.config_.torque_constant, phase, vel))
return false;
return !spin_done();
});