Input mode Tuning enhancements

Firmware/MotorControl/controller.cpp

@@ -224,9 +224,11 @@ bool Controller::update() {
         } break;
         case INPUT_MODE_TUNING: {
             autotuning_phase_ = wrap_pm_pi(autotuning_phase_ + (2.0f * M_PI * autotuning_.frequency * current_meas_period));
-            pos_setpoint_ = autotuning_.pos_amplitude * our_arm_sin_f32(autotuning_phase_ + autotuning_.pos_phase);
-            vel_setpoint_ = autotuning_.vel_amplitude * our_arm_sin_f32(autotuning_phase_ + autotuning_.vel_phase);
-            torque_setpoint_ = autotuning_.torque_amplitude * our_arm_sin_f32(autotuning_phase_ + autotuning_.torque_phase);
+            float c = our_arm_cos_f32(autotuning_phase_);
+            float s = our_arm_sin_f32(autotuning_phase_);
+            pos_setpoint_ = autotuning_.pos_amplitude * s; // + pos_amp_c * c
+            vel_setpoint_ = autotuning_.vel_amplitude * c;
+            torque_setpoint_ = autotuning_.torque_amplitude * -s;
         } break;
         default: {
             set_error(ERROR_INVALID_INPUT_MODE);

Firmware/MotorControl/controller.hpp

@@ -17,11 +17,11 @@ public:
     struct Autotuning_t {
         float frequency = 0.0f;
         float pos_amplitude = 0.0f;
-        float pos_phase = 0.0f;
         float vel_amplitude = 0.0f;
-        float vel_phase = 0.0f;
         float torque_amplitude = 0.0f;
-        float torque_phase = 0.0f;
+        // float pos_phase = 0.0f;
+        // float vel_phase = 0.0f;
+        // float torque_phase = 0.0f;
     };
 
     struct Config_t {

Firmware/odrive-interface.yaml

@@ -892,6 +892,7 @@ interfaces:
       trajectory_done: readonly bool
       vel_integrator_torque: float32
       anticogging_valid: bool
+      autotuning_phase: float32
       config:
         c_is_class: False
         attributes:
@@ -986,11 +987,11 @@ interfaces:
         attributes:
           frequency: float32
           pos_amplitude: float32
-          pos_phase: float32
           vel_amplitude: float32
-          vel_phase: float32
           torque_amplitude: float32
-          torque_phase: float32
+          # pos_phase: float32
+          # vel_phase: float32
+          # torque_phase: float32
       mechanical_power:
         type: readonly float32
         unit: Watt

GUI/src/views/Dashboard.vue

@@ -308,6 +308,10 @@ let odriveEnums = {
     {
       text: "Mirror",
       value: 7
+    },
+    {
+      text: "Tuning",
+      value: 8
     }
   ]
 }