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Add input_mode_tuning

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This commit is contained in:
Paul Guenette
2020-12-19 20:04:14 -05:00
parent 95a7c22b47
commit a52ed93bb9
4 changed files with 41 additions and 2 deletions
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Firmware/MotorControl/controller.cpp
+6
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@@ -199,6 +199,12 @@ bool Controller::update() {
}
anticogging_pos_estimate = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
} break;
case INPUT_MODE_TUNING: {
const auto time = axis_->loop_counter_ * current_meas_period;
pos_setpoint_ = autotuning_.pos_amplitude * our_arm_sin_f32((2.0f * M_PI * autotuning_.pos_frequency) * time + autotuning_.pos_phase);
vel_setpoint_ = autotuning_.vel_amplitude * our_arm_sin_f32((2.0f * M_PI * autotuning_.vel_frequency) * time + autotuning_.vel_phase);
torque_setpoint_ = autotuning_.torque_amplitude * our_arm_sin_f32((2.0f * M_PI * autotuning_.torque_frequency) * time + autotuning_.torque_phase);
} break;
default: {
set_error(ERROR_INVALID_INPUT_MODE);
return false;