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Set input_pos after init

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riewert
2021-05-04 21:17:51 -04:00
committed by PAJohnson
parent db5d952a08
commit 5a9bd63ed1
1 changed files with 13 additions and 13 deletions
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Firmware/MotorControl/axis.cpp
+13 -13
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@@ -395,29 +395,29 @@ bool Axis::run_homing() {
error_ &= ~ERROR_MIN_ENDSTOP_PRESSED; // clear this error since we deliberately drove into the endstop
// pos_setpoint is the starting position for the trap_traj so we need to set it.
controller_.pos_setpoint_ = min_endstop_.config_.offset;
controller_.vel_setpoint_ = 0.0f; // Change directions without decelerating
// Set our current position in encoder counts to make control more logical
encoder_.set_linear_count((int32_t)(controller_.pos_setpoint_ * encoder_.config_.cpr));
// Calculate the desired position after offset.
float inputBuffer = encoder_.pos_estimate_.any().value() + min_endstop_.config_.offset;
controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
controller_.input_pos_ = 0.0f;
controller_.input_pos_updated();
controller_.input_vel_ = 0.0f;
controller_.input_torque_ = 0.0f;
// Initialize closed loop control, and then set the desired location.
start_closed_loop_control();
controller_.input_pos_ = inputBuffer;
controller_.input_pos_updated();
while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !controller_.trajectory_done_) {
osDelay(1);
}
stop_closed_loop_control();
// Set the current position to 0.
encoder_.set_linear_count(0);
controller_.input_pos_ = 0;
controller_.input_pos_updated();
controller_.config_.control_mode = stored_control_mode;
controller_.config_.input_mode = stored_input_mode;
homing_.is_homed = true;