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Add _src to estimate pointers

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This commit is contained in:
Oskar Weigl
2020-07-25 20:24:55 -07:00
parent 1808bedf1a
commit 97469235d7
2 changed files with 10 additions and 9 deletions
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Firmware/MotorControl/axis.cpp
+6 -5
View File
@@ -278,8 +278,8 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
// Note run_sensorless_control_loop and run_closed_loop_control_loop are very similar and differ only in where we get the estimate from.
bool Axis::run_sensorless_control_loop() {
controller_.pos_estimate_linear_ = nullptr;
controller_.pos_estimate_circular_ = nullptr;
controller_.pos_estimate_linear_src_ = nullptr;
controller_.pos_estimate_circular_src_ = nullptr;
controller_.pos_estimate_valid_src_ = nullptr;
controller_.vel_estimate_src_ = &sensorless_estimator_.vel_estimate_;
controller_.vel_estimate_valid_src_ = &sensorless_estimator_.vel_estimate_valid_;
@@ -302,8 +302,9 @@ bool Axis::run_closed_loop_control_loop() {
}
// To avoid any transient on startup, we intialize the setpoint to be the current position
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_;
controller_.input_pos_ = *controller_.pos_estimate_linear_;
// TODO: use circular src if in circular mode.
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_src_;
controller_.input_pos_ = *controller_.pos_estimate_linear_src_;
// Avoid integrator windup issues
controller_.vel_integrator_torque_ = 0.0f;
@@ -353,7 +354,7 @@ bool Axis::run_homing() {
}
// To avoid any transient on startup, we intialize the setpoint to be the current position
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_;
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_src_;
// Avoid integrator windup issues
controller_.vel_integrator_torque_ = 0.0f;
Firmware/MotorControl/controller.cpp
+4 -4
View File
@@ -33,9 +33,9 @@ void Controller::input_pos_updated() {
bool Controller::select_encoder(size_t encoder_num) {
if (encoder_num < AXIS_COUNT) {
Axis* ax = axes[encoder_num];
pos_estimate_circular_ = &ax->encoder_.pos_circular_;
pos_estimate_circular_src_ = &ax->encoder_.pos_circular_;
pos_wrap_src_ = &config_.circular_setpoint_range;
pos_estimate_linear_ = &ax->encoder_.pos_estimate_;
pos_estimate_linear_src_ = &ax->encoder_.pos_estimate_;
pos_estimate_valid_src_ = &ax->encoder_.pos_estimate_valid_;
vel_estimate_src_ = &ax->encoder_.vel_estimate_;
vel_estimate_valid_src_ = &ax->encoder_.vel_estimate_valid_;
@@ -119,9 +119,9 @@ static float limitVel(const float vel_limit, const float vel_estimate, const flo
bool Controller::update(float* torque_setpoint_output) {
float* pos_estimate_linear = (pos_estimate_valid_src_ && *pos_estimate_valid_src_)
? pos_estimate_linear_ : nullptr;
? pos_estimate_linear_src_ : nullptr;
float* pos_estimate_circular = (pos_estimate_valid_src_ && *pos_estimate_valid_src_)
? pos_estimate_circular_ : nullptr;
? pos_estimate_circular_src_ : nullptr;
float* vel_estimate_src = (vel_estimate_valid_src_ && *vel_estimate_valid_src_)
? vel_estimate_src_ : nullptr;