Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 18:20:15 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Changed conditions and sources of wrapping for the circular setpoint feature as it related to this unit change. setpoints_in_cpr is still not exposed as an endpoint due to implementation changes when input_mode was introduced.

Browse Source
This commit is contained in:
PAJohnson
2020-07-13 23:31:57 +01:00
parent aa79b7ebe0
commit 9d5b2bc6d8
5 changed files with 16 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/encoder.cpp
+3 -10
View File
@@ -522,17 +522,10 @@ bool Encoder::update() {
snap_to_zero_vel = true;
}
<<<<<<< HEAD
//outputs from encoder for controller
pos_estimate_ = pos_estimate_counts_ * 2.0f * M_PI / config_.cpr;
vel_estimate_ = vel_estimate_counts_ * 2.0f * M_PI / config_.cpr;
pos_cpr_= pos_cpr_counts_ * 2.0f * M_PI / config_.cpr;
=======
//expose pos/vel estimates in radians for Controller
pos_est_rad_ = pos_estimate_ * 2.0f * M_PI / (float)config_.cpr;
vel_est_rad_ = vel_estimate_ * 2.0f * M_PI / (float)config_.cpr;
pos_cpr_rad_ = pos_cpr_ * 2.0f * M_PI / (float)config_.cpr;
>>>>>>> 4d920849a09d1e3368216f7786e9c1c9b9cb2ce3
pos_estimate_ = pos_estimate_counts_ * 2.0f * M_PI / (float)config_.cpr;
vel_estimate_ = vel_estimate_counts_ * 2.0f * M_PI / (float)config_.cpr;
pos_cpr_= pos_cpr_counts_ * 2.0f * M_PI / (float)config_.cpr;
//// run encoder count interpolation
int32_t corrected_enc = count_in_cpr_ - config_.offset;