Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-02-08 08:21:52 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

make hall calib 30s by default

Browse Source
This commit is contained in:
Oskar Weigl
2020-11-12 15:21:25 -08:00
parent 04b4e9f84e
commit 7afa99447c
3 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Firmware/MotorControl/encoder.cpp
View File

@@ -259,7 +259,7 @@ bool Encoder::run_hall_polarity_calibration() {
bool Encoder::run_hall_phase_calibration() {
Axis::LockinConfig_t lockin_config = axis_->config_.calibration_lockin;
lockin_config.finish_distance = lockin_config.vel * 10.0f; // run for 10 seconds
lockin_config.finish_distance = lockin_config.vel * 30.0f; // run for 30 seconds
lockin_config.finish_on_distance = true;
lockin_config.finish_on_enc_idx = false;
lockin_config.finish_on_vel = false;
@@ -760,6 +760,7 @@ bool Encoder::update() {
float delta_pos_counts = (float)(shadow_count_ - encoder_model(pos_estimate_counts_));
float delta_pos_cpr_counts = (float)(count_in_cpr_ - encoder_model(pos_cpr_counts_));
delta_pos_cpr_counts = wrap_pm(delta_pos_cpr_counts, (float)(config_.cpr));
delta_pos_cpr_counts_ += 0.1f * (delta_pos_cpr_counts - delta_pos_cpr_counts_); // for debug
// pll feedback
pos_estimate_counts_ += current_meas_period * pll_kp_ * delta_pos_counts;
pos_cpr_counts_ += current_meas_period * pll_kp_ * delta_pos_cpr_counts;

1
Firmware/MotorControl/encoder.hpp
View File

@@ -99,6 +99,7 @@ public:
OutputPort<float> phase_vel_ = 0.0f; // [rad/s]
float pos_estimate_counts_ = 0.0f; // [count]
float pos_cpr_counts_ = 0.0f; // [count]
float delta_pos_cpr_counts_ = 0.0f; // [count] phase detector result for debug
float vel_estimate_counts_ = 0.0f; // [count/s]
float pll_kp_ = 0.0f; // [count/s / count]
float pll_ki_ = 0.0f; // [(count/s^2) / count]

1
Firmware/odrive-interface.yaml
View File

@@ -974,6 +974,7 @@ interfaces:
pos_estimate: {type: readonly float32, c_getter: pos_estimate_.get_any().value_or(0.0f)}
pos_estimate_counts: readonly float32
pos_cpr_counts: readonly float32
delta_pos_cpr_counts: readonly float32
pos_circular: {type: readonly float32, c_getter: pos_circular_.get_any().value_or(0.0f)}
hall_state: readonly uint8
vel_estimate: {type: readonly float32, c_getter: vel_estimate_.get_any().value_or(0.0f)}