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Fix some merging pains with the anticogging_saver

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This commit is contained in:
Paul Guenette
2019-05-25 17:47:06 +02:00
parent 3fa49918c7
commit 5a812701a3
2 changed files with 3 additions and 3 deletions
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Firmware/MotorControl/controller.cpp
+2 -2
View File
@@ -88,7 +88,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
}
if (config_.anticogging.index < 3600) {
config_.control_mode = CTRL_MODE_POSITION_CONTROL;
input_pos_ = config_.anticogging.index * config_.anticogging.cogging_ratio;
input_pos_ = config_.anticogging.index * axis_->encoder_.getCoggingRatio();
input_vel_ = 0.0f;
input_current_ = 0.0f;
input_pos_updated();
@@ -100,7 +100,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
input_vel_ = 0.0f;
input_current_ = 0.0f;
input_pos_updated();
config_.anticogging.use_anticogging = true; // We're good to go, enable anti-cogging
config_.anticogging.anticogging_valid = true; // We're good to go, enable anti-cogging
config_.anticogging.calib_anticogging = false;
return true;
}
Firmware/MotorControl/controller.hpp
+1 -1
View File
@@ -130,7 +130,7 @@ public:
make_protocol_property("homing_speed", &config_.homing_speed),
make_protocol_property("inertia", &config_.inertia),
make_protocol_property("input_filter_bandwidth", &config_.input_filter_bandwidth,
[](void* ctx) { static_cast<Controller*>(ctx)->update_filter_gains(); }, this)
[](void* ctx) { static_cast<Controller*>(ctx)->update_filter_gains(); }, this),
make_protocol_object("anticogging",
make_protocol_ro_property("index", &config_.anticogging.index),
make_protocol_property("anticogging_valid", &config_.anticogging.anticogging_valid),