From 7d6ddc96b2b7c327031cfe6365a2571070601a87 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Thu, 26 Apr 2018 11:23:23 -0700
Subject: [PATCH] update encoder during calib

---
 Firmware/MotorControl/encoder.cpp | 2 ++
 Firmware/MotorControl/motor.cpp   | 4 ++++
 Firmware/MotorControl/motor.hpp   | 2 +-
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 6267e152..168bc0e0 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -148,6 +148,8 @@ bool Encoder::run_offset_calibration() {
     // scan forward
     i = 0;
     axis_->run_control_loop([&](){
+        axis_->encoder_.update(nullptr, nullptr, nullptr);
+
         float phase = wrap_pm_pi(scan_distance * (float)i / (float)num_steps - scan_distance / 2.0f);
         float v_alpha = voltage_magnitude * arm_cos_f32(phase);
         float v_beta = voltage_magnitude * arm_sin_f32(phase);
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index cbf62952..dad64bc5 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -167,6 +167,8 @@ bool Motor::measure_phase_resistance(float test_current, float max_voltage) {
     
     size_t i = 0;
     axis_->run_control_loop([&](){
+        axis_->encoder_.update(nullptr, nullptr, nullptr);
+
         float Ialpha = -(current_meas_.phB + current_meas_.phC);
         test_voltage += (kI * current_meas_period) * (test_current - Ialpha);
         if (test_voltage > max_voltage || test_voltage < -max_voltage)
@@ -198,6 +200,8 @@ bool Motor::measure_phase_inductance(float voltage_low, float voltage_high) {
 
     size_t t = 0;
     axis_->run_control_loop([&](){
+        axis_->encoder_.update(nullptr, nullptr, nullptr);
+
         int i = t & 1;
         Ialphas[i] += -current_meas_.phB - current_meas_.phC;
 
diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp
index 74679b88..49ca126b 100644
--- a/Firmware/MotorControl/motor.hpp
+++ b/Firmware/MotorControl/motor.hpp
@@ -48,7 +48,7 @@ typedef struct {
     // Read out max_allowed_current to see max supported value for current_lim.
     // You can change DRV8301_ShuntAmpGain to get a different range.
     // float current_lim = 75.0f; //[A]
-    float current_lim = 10.0f;  //[A]
+    float current_lim = 6.0f;  //[A]
 } MotorConfig_t;
 
 class Motor {