From 4b164137ccd39ef42dcd857cff869dd22d2dd114 Mon Sep 17 00:00:00 2001 From: Unknown Date: Wed, 1 Nov 2017 00:28:43 -0400 Subject: [PATCH] Check for NULL cogmap --- 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 ca9d3845..301c3d4a 100644 --- a/Firmware/MotorControl/low_level.c +++ b/Firmware/MotorControl/low_level.c @@ -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) {