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Calculating A from cpss, not other way around

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2018-09-20 20:27:36 -04:00
parent 3b931be8cf
commit 4475c59c8a
2 changed files with 3 additions and 3 deletions
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Firmware/MotorControl/controller.cpp
+2 -2
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@@ -52,7 +52,7 @@ void Controller::move_to_pos(float goal_point) {
TrapTrajStep_t myTraj = axis_->trap_.evalTrapTraj(0.0f);
pos_setpoint_ = myTraj.Y;
vel_setpoint_ = myTraj.Yd;
current_setpoint_ = myTraj.Ydd * axis_->trap_.config_.A_to_cpss;
current_setpoint_ = myTraj.Ydd * axis_->trap_.config_.cpss_to_A;
planned_move_timer_ = axis_->loop_counter_ * current_meas_period;
}
@@ -108,7 +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 * axis_->trap_.config_.A_to_cpss;
current_setpoint_ = myTraj.Ydd * axis_->trap_.config_.cpss_to_A;
}
anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
}