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Enable rudimentary dual-encoder support

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2019-09-01 17:02:15 -04:00
parent e9c8eb6c03
commit 3f4433f50d
4 changed files with 30 additions and 10 deletions
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Firmware/MotorControl/axis.cpp
+12 -3
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@@ -206,7 +206,7 @@ void Axis::watchdog_feed() {
// @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
bool Axis::watchdog_check() {
// reset value = 0 means watchdog disabled.
if(!config_.enable_watchdog) return true;
if (!config_.enable_watchdog) return true;
if (get_watchdog_reset() == 0) return true;
// explicit check here to ensure that we don't underflow back to UINT32_MAX
@@ -305,12 +305,21 @@ bool Axis::run_closed_loop_control_loop() {
// Avoid integrator windup issues
controller_.vel_integrator_current_ = 0.0f;
set_step_dir_active(config_.enable_step_dir);
run_control_loop([this]() {
// Note that all estimators are updated in the loop prefix in run_control_loop
float current_setpoint;
if (!controller_.update(encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
if (controller_.config_.use_load_encoder) {
if (controller_.config_.load_encoder_axis < AXIS_COUNT) {
Axis* ax = axes[controller_.config_.load_encoder_axis];
if (!controller_.update(ax->encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false;
} else{
controller_.set_error(Controller::ERROR_INVALID_LOAD_ENCODER);
return error_ |= ERROR_CONTROLLER_FAILED, false;
}
} else if (!controller_.update(encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false; //TODO: Make controller.set_error
float phase_vel = 2 * M_PI * encoder_.vel_estimate_ / (float)encoder_.config_.cpr * motor_.config_.pole_pairs;
if (!motor_.update(current_setpoint, encoder_.phase_, phase_vel))