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Just fetch the cogging ratio every time we need it

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This commit is contained in:
Paul Guenette
2019-05-25 17:29:25 +02:00
parent dfca556185
commit 6654b3a375
3 changed files with 9 additions and 11 deletions
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Firmware/MotorControl/controller.cpp
+4 -3
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@@ -5,7 +5,8 @@
Controller::Controller(Config_t& config) :
config_(config)
{}
{
}
void Controller::reset() {
pos_setpoint_ = 0.0f;
@@ -90,7 +91,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
config_.anticogging.cogging_map[std::clamp<uint32_t>(config_.anticogging.index++, 0, 3600)] = vel_integrator_current_;
}
if (config_.anticogging.index < 3600) {
set_pos_setpoint(config_.anticogging.index * config_.anticogging.cogging_ratio, 0.0f, 0.0f);
set_pos_setpoint(config_.anticogging.index * axis_->encoder_.getCoggingRatio(), 0.0f, 0.0f);
return false;
} else {
config_.anticogging.index = 0;
@@ -106,7 +107,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
bool Controller::update(float pos_estimate, float vel_estimate, float* current_setpoint_output) {
// Only runs if config_.anticogging.calib_anticogging is true; non-blocking
anticogging_calibration(pos_estimate, vel_estimate);
float anticogging_pos = pos_estimate / config_.anticogging.cogging_ratio;
float anticogging_pos = pos_estimate / axis_->encoder_.getCoggingRatio();
// Trajectory control
if (config_.control_mode == CTRL_MODE_TRAJECTORY_CONTROL) {