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check ACIM for skipping index requirement too

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This commit is contained in:
Oskar Weigl
2021-01-08 10:09:32 -08:00
parent 8dfd26ff81
commit 78cc902857
1 changed files with 6 additions and 4 deletions
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Firmware/MotorControl/encoder.cpp
+6 -4
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@@ -128,10 +128,12 @@ void Encoder::update_pll_gains() {
void Encoder::check_pre_calibrated() {
// TODO: restoring config from python backup is fragile here (ACIM motor type must be set first)
if (!is_ready_ && axis_->motor_.config_.motor_type != Motor::MOTOR_TYPE_ACIM)
config_.pre_calibrated = false;
if (mode_ == MODE_INCREMENTAL && !index_found_)
config_.pre_calibrated = false;
if (axis_->motor_.config_.motor_type != Motor::MOTOR_TYPE_ACIM) {
if (!is_ready_)
config_.pre_calibrated = false;
if (mode_ == MODE_INCREMENTAL && !index_found_)
config_.pre_calibrated = false;
}
}
// Function that sets the current encoder count to a desired 32-bit value.