From 5a812701a318f54cf74f3645587b27a4b0c5df8f Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Sat, 25 May 2019 17:47:06 +0200 Subject: [PATCH] Fix some merging pains with the anticogging_saver --- Firmware/MotorControl/controller.cpp | 4 ++-- Firmware/MotorControl/controller.hpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp index 4f5aef0d..f844ed9c 100644 --- a/Firmware/MotorControl/controller.cpp +++ b/Firmware/MotorControl/controller.cpp @@ -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; } diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp index e1f899d7..c6f48bed 100644 --- a/Firmware/MotorControl/controller.hpp +++ b/Firmware/MotorControl/controller.hpp @@ -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(ctx)->update_filter_gains(); }, this) + [](void* ctx) { static_cast(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),