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make hall calib 30s by default

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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
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Firmware/MotorControl/encoder.cpp
+2 -1
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@@ -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;