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Merge branch 'rc-v0.5.0' into rls_spi

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2020-07-28 00:36:30 -04:00
parent a9b90eb11a 9bf5a8df85
commit 4787ca52bb
11 changed files with 49 additions and 24 deletions
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Firmware/MotorControl/encoder.cpp
+5 -4
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@@ -181,8 +181,8 @@ bool Encoder::run_direction_find() {
// and the encoder state 0.
// TODO: Do the scan with current, not voltage!
bool Encoder::run_offset_calibration() {
static const float start_lock_duration = 1.0f;
static const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
const float start_lock_duration = 1.0f;
const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
// Require index found if enabled
if (config_.use_index && !index_found_) {
@@ -440,6 +440,7 @@ void Encoder::abs_spi_cs_pin_init(){
bool Encoder::update() {
// update internal encoder state.
int32_t delta_enc = 0;
int32_t pos_abs_latched = pos_abs_; //LATCH
switch (mode_) {
case MODE_INCREMENTAL: {
@@ -490,7 +491,7 @@ bool Encoder::update() {
}
abs_spi_pos_updated_ = false;
delta_enc = pos_abs_ - count_in_cpr_;
delta_enc = pos_abs_latched - count_in_cpr_; //LATCH
delta_enc = mod(delta_enc, config_.cpr);
if (delta_enc > config_.cpr/2) {
delta_enc -= config_.cpr;
@@ -508,7 +509,7 @@ bool Encoder::update() {
count_in_cpr_ = mod(count_in_cpr_, config_.cpr);
if(mode_ & MODE_FLAG_ABS)
count_in_cpr_ = pos_abs_;
count_in_cpr_ = pos_abs_latched;
//// run pll (for now pll is in units of encoder counts)
// Predict current pos