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Revert "Fixed the encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi"

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This reverts commit b52cd87fa2.

Reverted fix - see `bug_fixes` branch instead
This commit is contained in:
PAJohnson
2021-04-12 20:28:40 -04:00
parent b52cd87fa2
commit 411494c7f0
2 changed files with 2 additions and 8 deletions
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CHANGELOG.md
-3
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@@ -1,9 +1,6 @@
# Unreleased Features
Please add a note of your changes below this heading if you make a Pull Request.
### Changed
Fixed the encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi
# Releases
## [0.5.1] - 2020-09-27
### Added
Firmware/MotorControl/encoder.cpp
+2 -5
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@@ -202,13 +202,10 @@ bool Encoder::run_offset_calibration() {
else
return false;
// go to start position of forward scan for start_lock_duration to get ready to scan
// go to motor zero phase for start_lock_duration to get ready to scan
int i = 0;
axis_->run_control_loop([&](){
float phase = wrap_pm_pi(0 - config_.calib_scan_distance / 2.0f);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
if (!axis_->motor_.enqueue_voltage_timings(voltage_magnitude, 0.0f))
return false; // error set inside enqueue_voltage_timings
axis_->motor_.log_timing(TIMING_LOG_ENC_CALIB);
return ++i < start_lock_duration * current_meas_hz;