From 8b696d29e0de27656626f09e7ab2ee13c54f566d Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Mon, 23 Apr 2018 20:10:02 -0700 Subject: [PATCH] change pos_cpr to pos_cpr_ --- Firmware/MotorControl/encoder.cpp | 10 +++++----- Firmware/MotorControl/encoder.hpp | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp index 0e736ae1..6267e152 100644 --- a/Firmware/MotorControl/encoder.cpp +++ b/Firmware/MotorControl/encoder.cpp @@ -71,7 +71,7 @@ void Encoder::set_circular_count(int32_t count) { offset_ = mod(offset_, config_.cpr); // Update states count_in_cpr_ = mod(count, config_.cpr); - pos_cpr = (float)count_in_cpr_; + pos_cpr_ = (float)count_in_cpr_; __set_PRIMASK(prim); } @@ -233,15 +233,15 @@ bool Encoder::update(float* pos_estimate, float* vel_estimate, float* phase_outp // run pll (for now pll is in units of encoder counts) // Predict current pos pos_estimate_ += current_meas_period * pll_vel_; - pos_cpr += current_meas_period * pll_vel_; + pos_cpr_ += current_meas_period * pll_vel_; // discrete phase detector float delta_pos = (float)(shadow_count_ - (int32_t)floorf(pos_estimate_)); - float delta_pos_cpr = (float)(count_in_cpr_ - (int32_t)floorf(pos_cpr)); + float delta_pos_cpr = (float)(count_in_cpr_ - (int32_t)floorf(pos_cpr_)); delta_pos_cpr = wrap_pm(delta_pos_cpr, 0.5f * (float)(config_.cpr)); // pll feedback pos_estimate_ += current_meas_period * pll_kp_ * delta_pos; - pos_cpr += current_meas_period * pll_kp_ * delta_pos_cpr; - pos_cpr = fmodf_pos(pos_cpr, (float)(config_.cpr)); + pos_cpr_ += current_meas_period * pll_kp_ * delta_pos_cpr; + pos_cpr_ = fmodf_pos(pos_cpr_, (float)(config_.cpr)); pll_vel_ += current_meas_period * pll_ki_ * delta_pos_cpr; if (fabsf(pll_vel_) < 0.5f * current_meas_period * pll_ki_) pll_vel_ = 0.0f; //align delta-sigma on zero to prevent jitter diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp index a97b94a1..9a59654e 100644 --- a/Firmware/MotorControl/encoder.hpp +++ b/Firmware/MotorControl/encoder.hpp @@ -56,7 +56,7 @@ public: int32_t offset_ = 0; float phase_ = 0.0f; // [rad] float pos_estimate_ = 0.0f; // [rad] - float pos_cpr = 0.0f; // [rad] + float pos_cpr_ = 0.0f; // [rad] float pll_vel_ = 0.0f; // [rad/s] float pll_kp_ = 0.0f; // [rad/s / rad] float pll_ki_ = 0.0f; // [(rad/s^2) / rad] @@ -72,7 +72,7 @@ public: make_protocol_property("offset", &offset_), make_protocol_property("phase", &phase_), make_protocol_property("pos_estimate", &pos_estimate_), - make_protocol_property("pos_cpr", &pos_cpr), + make_protocol_property("pos_cpr", &pos_cpr_), make_protocol_property("pll_vel", &pll_vel_), make_protocol_property("pll_kp", &pll_kp_), make_protocol_property("pll_ki", &pll_ki_),