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Merge pull request #254 from madcowswe/fix-sincos

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Fix rounding issue in arm_cos_f32
This commit is contained in:
Oskar Weigl
2018-09-30 19:13:53 -07:00
committed by GitHub
parent be0cc94655 e4f5062652
commit 6c89460d88
7 changed files with 264 additions and 13 deletions
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Firmware/MotorControl/encoder.cpp
+6 -6
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@@ -109,8 +109,8 @@ bool Encoder::run_index_search() {
axis_->run_control_loop([&](){
phase = wrap_pm_pi(phase + omega * current_meas_period);
float v_alpha = voltage_magnitude * arm_cos_f32(phase);
float v_beta = voltage_magnitude * arm_sin_f32(phase);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
return false; // error set inside enqueue_voltage_timings
axis_->motor_.log_timing(Motor::TIMING_LOG_IDX_SEARCH);
@@ -167,8 +167,8 @@ bool Encoder::run_offset_calibration() {
i = 0;
axis_->run_control_loop([&](){
float phase = wrap_pm_pi(scan_distance * (float)i / (float)num_steps - scan_distance / 2.0f);
float v_alpha = voltage_magnitude * arm_cos_f32(phase);
float v_beta = voltage_magnitude * arm_sin_f32(phase);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
return false; // error set inside enqueue_voltage_timings
axis_->motor_.log_timing(Motor::TIMING_LOG_ENC_CALIB);
@@ -208,8 +208,8 @@ bool Encoder::run_offset_calibration() {
i = 0;
axis_->run_control_loop([&](){
float phase = wrap_pm_pi(-scan_distance * (float)i / (float)num_steps + scan_distance / 2.0f);
float v_alpha = voltage_magnitude * arm_cos_f32(phase);
float v_beta = voltage_magnitude * arm_sin_f32(phase);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
return false; // error set inside enqueue_voltage_timings
axis_->motor_.log_timing(Motor::TIMING_LOG_ENC_CALIB);