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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/encoder.cpp
-32
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@@ -91,38 +91,6 @@ void Encoder::set_circular_count(int32_t count, bool update_offset) {
cpu_exit_critical(prim);
}
// @brief Slowly turns the motor in one direction until the
// encoder index is found.
// TODO: Do the scan with current, not voltage!
bool Encoder::run_index_search() {
float voltage_magnitude;
if (axis_->motor_.config_.motor_type == Motor::MOTOR_TYPE_HIGH_CURRENT)
voltage_magnitude = axis_->motor_.config_.calibration_current * axis_->motor_.config_.phase_resistance;
else if (axis_->motor_.config_.motor_type == Motor::MOTOR_TYPE_GIMBAL)
voltage_magnitude = axis_->motor_.config_.calibration_current;
else
return false;
float omega = (float)(axis_->motor_.config_.direction) * config_.idx_search_speed;
index_found_ = false;
float phase = 0.0f;
axis_->run_control_loop([&](){
phase = wrap_pm_pi(phase + omega * current_meas_period);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
return false; // error set inside enqueue_voltage_timings
axis_->motor_.log_timing(Motor::TIMING_LOG_IDX_SEARCH);
// continue until the index is found
return !index_found_;
});
return true;
}
// @brief Turns the motor in one direction for a bit and then in the other
// direction in order to find the offset between the electrical phase 0
// and the encoder state 0.