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Update to devel

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This commit is contained in:
Paul Guenette
2021-01-10 15:04:50 -05:00
parent 2e9c3def98
commit 6ff5e18c56
3 changed files with 3 additions and 4 deletions
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Firmware/MotorControl/controller.cpp
+1 -2
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@@ -17,7 +17,7 @@ void Controller::reset() {
void Controller::set_error(Error error) {
error_ |= error;
last_error_time_ = axis_->loop_counter_ * current_meas_period;
last_error_time_ = odrv.n_evt_control_loop_ * current_meas_period;
}
//--------------------------------
@@ -98,7 +98,6 @@ static float limitVel(const float vel_limit, const float vel_estimate, const flo
}
bool Controller::update() {
axis_->loop_counter_++;
std::optional<float> pos_estimate_linear = pos_estimate_linear_src_.present();
std::optional<float> pos_estimate_circular = pos_estimate_circular_src_.present();
std::optional<float> pos_wrap = pos_wrap_src_.present();
Firmware/MotorControl/motor.cpp
+1 -1
View File
@@ -339,7 +339,7 @@ bool Motor::setup() {
void Motor::disarm_with_error(Motor::Error error){
error_ |= error;
last_error_time_ = axis_->loop_counter_ * current_meas_period;
last_error_time_ = odrv.n_evt_control_loop_ * current_meas_period;
disarm();
}
Firmware/Private
+1 -1
Submodule Firmware/Private updated: fa10f26681...260d6e71fd