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Fix bug in anticogging due to improper scaling

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2019-08-18 11:13:24 -04:00
parent 2cc54f980d
commit 9d378f1b67
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/controller.cpp
+1 -1
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@@ -243,7 +243,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
// We get the current position and apply a current feed-forward
// ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
if (anticogging_valid_) {
Iq += config_.anticogging.cogging_map[std::clamp(mod(static_cast<int>(anticogging_pos), axis_->encoder_.config_.cpr), 0, 3600)];
Iq += config_.anticogging.cogging_map[std::clamp(mod(static_cast<int>(anticogging_pos), 3600), 0, 3600)];
}
float v_err = vel_des - vel_estimate;