From 430e4088754e76843da96579060aee9d8c762fe3 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Fri, 23 Feb 2018 12:48:27 -0800 Subject: [PATCH] default calib speed a bit faster --- Firmware/MotorControl/low_level.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c index f3624eef..40ac40ad 100644 --- a/Firmware/MotorControl/low_level.c +++ b/Firmware/MotorControl/low_level.c @@ -762,7 +762,7 @@ bool measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_h // TODO: add check_timing bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) { static const float start_lock_duration = 1.0f; - static const int num_steps = 1024*4; + static const int num_steps = 1024*2; static const float dt_step = 1.0f / 500.0f; static const float scan_range = 16.0f * M_PI; const float step_size = scan_range / (float)num_steps; // TODO handle const expressions better (maybe switch to C++ ?)