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Lockin based index search working, clean out old search

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This commit is contained in:
Oskar Weigl
2018-10-10 14:23:10 -07:00
parent b28f453833
commit 8c286f0a6d
5 changed files with 32 additions and 57 deletions
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Firmware/MotorControl/axis.cpp
+23 -15
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@@ -291,29 +291,37 @@ void Axis::run_state_machine_loop() {
// Handlers should exit if requested_state != AXIS_STATE_UNDEFINED
bool status;
switch (current_state_) {
case AXIS_STATE_MOTOR_CALIBRATION:
case AXIS_STATE_MOTOR_CALIBRATION: {
status = motor_.run_calibration();
break;
} break;
case AXIS_STATE_ENCODER_INDEX_SEARCH:
case AXIS_STATE_ENCODER_INDEX_SEARCH: {
if (!motor_.is_calibrated_)
goto invalid_state_label;
status = encoder_.run_index_search();
break;
case AXIS_STATE_ENCODER_OFFSET_CALIBRATION:
encoder_.config_.use_index = true;
encoder_.index_found_ = false;
bool orig_setting = config_.lockin_finish_on_enc_idx;
config_.lockin_finish_on_enc_idx = true;
status = run_lockin_spin();
config_.lockin_finish_on_enc_idx = orig_setting;
// status = encoder_.run_index_search();
} break;
case AXIS_STATE_ENCODER_OFFSET_CALIBRATION: {
if (!motor_.is_calibrated_)
goto invalid_state_label;
status = encoder_.run_offset_calibration();
break;
} break;
case AXIS_STATE_LOCKIN_SPIN:
case AXIS_STATE_LOCKIN_SPIN: {
if (!motor_.is_calibrated_)
goto invalid_state_label;
status = run_lockin_spin();
break;
} break;
case AXIS_STATE_SENSORLESS_CONTROL:
case AXIS_STATE_SENSORLESS_CONTROL: {
if (!motor_.is_calibrated_)
goto invalid_state_label;
status = run_lockin_spin(); // TODO: restart if desired
@@ -323,20 +331,20 @@ void Axis::run_state_machine_loop() {
controller_.vel_setpoint_ = config_.lockin_vel;
status = run_sensorless_control_loop();
}
break;
} break;
case AXIS_STATE_CLOSED_LOOP_CONTROL:
case AXIS_STATE_CLOSED_LOOP_CONTROL: {
if (!motor_.is_calibrated_)
goto invalid_state_label;
if (!encoder_.is_ready_)
goto invalid_state_label;
status = run_closed_loop_control_loop();
break;
} break;
case AXIS_STATE_IDLE:
case AXIS_STATE_IDLE: {
run_idle_loop();
status = motor_.arm(); // done with idling - try to arm the motor
break;
} break;
default:
invalid_state_label: