Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-26 03:23:39 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge branch 'anticogging_saver' into RazorsEdge

Browse Source
This commit is contained in:
Paul Guenette
2019-05-25 17:45:09 +02:00
parent 3dc969ad15 6654b3a375
commit 3fa49918c7
4 changed files with 18 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/encoder.hpp
+5 -4
View File
@@ -74,9 +74,6 @@ public:
void sample_now();
bool update();
void cpr_changed_callback();
const EncoderHardwareConfig_t& hw_config_;
Config_t& config_;
Axis* axis_ = nullptr; // set by Axis constructor
@@ -115,6 +112,10 @@ public:
uint32_t abs_spi_cr1;
uint32_t abs_spi_cr2;
constexpr float getCoggingRatio(){
return config_.cpr / 3600.0f;
}
// Communication protocol definitions
auto make_protocol_definitions() {
return make_protocol_member_list(
@@ -145,7 +146,7 @@ public:
make_protocol_property("abs_spi_cs_gpio_pin", &config_.abs_spi_cs_gpio_pin,
[](void* ctx) { static_cast<Encoder*>(ctx)->abs_spi_cs_pin_init(); }, this),
make_protocol_property("zero_count_on_find_idx", &config_.zero_count_on_find_idx),
make_protocol_property("cpr", &config_.cpr, [](void* ctx) { static_cast<Encoder*>(ctx)->cpr_changed_callback(); }, this),
make_protocol_property("cpr", &config_.cpr),
make_protocol_property("offset", &config_.offset),
make_protocol_property("offset_float", &config_.offset_float),
make_protocol_property("enable_phase_interpolation", &config_.enable_phase_interpolation),