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Check for NULL cogmap

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2017-11-01 00:28:43 -04:00
parent b65dba210d
commit 4b164137cc
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/low_level.c
+1 -1
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@@ -853,7 +853,7 @@ static bool motor_calibration(Motor_t* motor){
* This holding current is added as a feedforward term in the control loop.
*/
bool anti_cogging_calibration(Motor_t* motor) {
if (motor->anticogging.calib_anticogging) {
if (motor->anticogging.calib_anticogging && motor->anticogging.cogging_map != NULL) {
float pos_err = motor->anticogging.index - motor->encoder.pll_pos;
if (fabsf(pos_err) <= motor->anticogging.calib_pos_threshold &&
fabsf(motor->encoder.pll_vel) < motor->anticogging.calib_vel_threshold) {