Fixed the encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi

CHANGELOG.md

@@ -1,6 +1,9 @@
 # Unreleased Features
 Please add a note of your changes below this heading if you make a Pull Request.
 
+### Changed
+Fixed the encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi
+
 # Releases
 ## [0.5.1] - 2020-09-27
 ### Added

Firmware/MotorControl/encoder.cpp

@@ -202,10 +202,13 @@ bool Encoder::run_offset_calibration() {
     else
         return false;
 
-    // go to motor zero phase for start_lock_duration to get ready to scan
+    // go to start position of forward scan for start_lock_duration to get ready to scan
     int i = 0;
     axis_->run_control_loop([&](){
-        if (!axis_->motor_.enqueue_voltage_timings(voltage_magnitude, 0.0f))
+        float phase = wrap_pm_pi(0 - config_.calib_scan_distance / 2.0f);
+        float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
+        float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
+        if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
             return false; // error set inside enqueue_voltage_timings
         axis_->motor_.log_timing(TIMING_LOG_ENC_CALIB);
         return ++i < start_lock_duration * current_meas_hz;