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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/encoder.cpp
+4 -4
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@@ -510,7 +510,7 @@ bool Encoder::update() {
// discrete phase detector
float delta_pos = (float)(shadow_count_ - (int32_t)std::floor(pos_estimate_));
float delta_pos_cpr = (float)(count_in_cpr_ - (int32_t)std::floor(pos_cpr_));
delta_pos_cpr = wrap_pm(delta_pos_cpr, 0.5f * (float)(config_.cpr));
delta_pos_cpr = wrap_pm(delta_pos_cpr, 0.5f * config_.cpr);
// pll feedback
pos_estimate_ += current_meas_period * pll_kp_ * delta_pos;
pos_cpr_ += current_meas_period * pll_kp_ * delta_pos_cpr;
@@ -523,9 +523,9 @@ bool Encoder::update() {
}
//expose pos/vel estimates in radians for Controller
pos_est_rad_ = pos_estimate_ * 2.0f * M_PI / (float)config_.cpr;
vel_est_rad_ = vel_estimate_ * 2.0f * M_PI / (float)config_.cpr;
pos_cpr_rad_ = pos_cpr_ * 2.0f * M_PI / (float)config_.cpr;
pos_est_rad_ = pos_estimate_ * 2.0f * M_PI / config_.cpr;
vel_est_rad_ = vel_estimate_ * 2.0f * M_PI / config_.cpr;
pos_cpr_rad_ = pos_cpr_ * 2.0f * M_PI / config_.cpr;
//// run encoder count interpolation
int32_t corrected_enc = count_in_cpr_ - config_.offset;