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Merge branch 'devel' into property-hooks

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Oskar Weigl
2018-09-30 18:55:22 -07:00
parent d2e2c3a1a8 be0cc94655
commit a1c8a559c5
37 changed files with 789 additions and 272 deletions
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Firmware/MotorControl/encoder.cpp
+4 -4
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@@ -97,9 +97,9 @@ void Encoder::set_circular_count(int32_t count, bool update_offset) {
// TODO: Do the scan with current, not voltage!
bool Encoder::run_index_search() {
float voltage_magnitude;
if (axis_->motor_.config_.motor_type == MOTOR_TYPE_HIGH_CURRENT)
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_TYPE_GIMBAL)
else if (axis_->motor_.config_.motor_type == Motor::MOTOR_TYPE_GIMBAL)
voltage_magnitude = axis_->motor_.config_.calibration_current;
else
return false;
@@ -144,9 +144,9 @@ bool Encoder::run_offset_calibration() {
shadow_count_ = count_in_cpr_;
float voltage_magnitude;
if (axis_->motor_.config_.motor_type == MOTOR_TYPE_HIGH_CURRENT)
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_TYPE_GIMBAL)
else if (axis_->motor_.config_.motor_type == Motor::MOTOR_TYPE_GIMBAL)
voltage_magnitude = axis_->motor_.config_.calibration_current;
else
return false;