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Un-removed custom setter for input_pos_

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removed explicit casts where variables would be promoted anyway
This commit is contained in:
PAJohnson
2020-06-26 19:48:21 +01:00
parent 193dddad00
commit 744bfeb110
4 changed files with 11 additions and 8 deletions
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Firmware/MotorControl/controller.cpp
+4 -4
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@@ -85,8 +85,8 @@ void Controller::start_anticogging_calibration() {
*/
bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate) {
float pos_err = input_pos_ - pos_estimate;
if (std::abs(pos_err) <= config_.anticogging.calib_pos_threshold * (2.0f * M_PI) / (float)axis_->encoder_.config_.cpr &&
std::abs(vel_estimate) < config_.anticogging.calib_vel_threshold * (2.0f * M_PI) / (float)axis_->encoder_.config_.cpr) {
if (std::abs(pos_err) <= config_.anticogging.calib_pos_threshold * (2.0f * M_PI) / axis_->encoder_.config_.cpr &&
std::abs(vel_estimate) < config_.anticogging.calib_vel_threshold * (2.0f * M_PI) / axis_->encoder_.config_.cpr) {
config_.anticogging.cogging_map[std::clamp<uint32_t>(config_.anticogging.index++, 0, 3600)] = vel_integrator_torque_;
}
if (config_.anticogging.index < 3600) {
@@ -140,7 +140,7 @@ bool Controller::update(float* torque_setpoint_output) {
// TODO also enable circular deltas for 2nd order filter, etc.
if (pos_wrap_src_) {
float cpr = *pos_wrap_src_ * 2.0f * M_PI / ((float)axis_->encoder_.config_.cpr);
float cpr = *pos_wrap_src_ * 2.0f * M_PI / axis_->encoder_.config_.cpr;
// Keep pos setpoint from drifting
input_pos_ = fmodf_pos(input_pos_, cpr);
}
@@ -235,7 +235,7 @@ bool Controller::update(float* torque_setpoint_output) {
}
if (pos_wrap_src_) {
float cpr = *pos_wrap_src_ * 2.0f * M_PI / ((float)axis_->encoder_.config_.cpr);
float cpr = *pos_wrap_src_ * 2.0f * M_PI / axis_->encoder_.config_.cpr;
// Keep pos setpoint from drifting
pos_setpoint_ = fmodf_pos(pos_setpoint_, cpr);
// Circular delta