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move_to_pos uses setpoints instead of estimates. Add A_to_cpss

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2018-09-20 20:25:38 -04:00
parent ea510fb8e5
commit 3b931be8cf
3 changed files with 7 additions and 8 deletions
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Firmware/MotorControl/controller.cpp
+5 -7
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@@ -44,16 +44,15 @@ void Controller::set_current_setpoint(float current_setpoint) {
#endif
}
void Controller::move_to_pos(float pos_setpoint) {
planned_move_end_time_ = axis_->trap_.planTrapezoidal(pos_setpoint, axis_->encoder_.pos_estimate_,
axis_->encoder_.vel_estimate_, axis_->trap_.config_.vel_limit,
void Controller::move_to_pos(float goal_point) {
planned_move_end_time_ = axis_->trap_.planTrapezoidal(goal_point, pos_setpoint_,
vel_setpoint_, axis_->trap_.config_.vel_limit,
axis_->trap_.config_.accel_limit, axis_->trap_.config_.decel_limit);
config_.control_mode = CTRL_MODE_PLANNED_MOVE_CONTROL;
TrapTrajStep_t myTraj = axis_->trap_.evalTrapTraj(0.0f);
pos_setpoint_ = myTraj.Y;
vel_setpoint_ = myTraj.Yd;
// current_setpoint_ = myTraj.Ydd;
current_setpoint_ = 0.0f; // Temporary, until we have a way to convert from accel to current
current_setpoint_ = myTraj.Ydd * axis_->trap_.config_.A_to_cpss;
planned_move_timer_ = axis_->loop_counter_ * current_meas_period;
}
@@ -109,8 +108,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
TrapTrajStep_t myTraj = axis_->trap_.evalTrapTraj(time_now - planned_move_timer_);
pos_setpoint_ = myTraj.Y;
vel_setpoint_ = myTraj.Yd;
// current_setpoint_ = myTraj.Ydd;
current_setpoint_ = 0.0f; // Temporary, until we have a way of converting from accel to current
current_setpoint_ = myTraj.Ydd * axis_->trap_.config_.A_to_cpss;
}
anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
}
Firmware/MotorControl/controller.hpp
+1 -1
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@@ -34,7 +34,7 @@ public:
void set_current_setpoint(float current_setpoint);
// Trajectory-Planned control
void move_to_pos(float pos_setpoint);
void move_to_pos(float goal_point);
// TODO: make this more similar to other calibration loops
void start_anticogging_calibration();
Firmware/MotorControl/trapTraj.hpp
+1
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@@ -5,6 +5,7 @@ struct TrapTrajConfig_t {
float vel_limit = 20000.0f;
float accel_limit = 5000.0f;
float decel_limit = 5000.0f;
float A_to_cpss = 0.0f;
};
struct TrapTrajStep_t {