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Fix homing offset compensation per @riewert

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2019-08-26 22:32:45 -04:00
parent cd304f7b78
commit b880d7986e
2 changed files with 4 additions and 4 deletions
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Firmware/MotorControl/axis.cpp
+2 -2
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@@ -316,11 +316,11 @@ bool Axis::run_closed_loop_control_loop() {
if (homing_.homing_state == HOMING_STATE_HOMING) {
if (min_endstop_.getEndstopState()) {
// pos_setpoint is the starting position for the trap_traj so we need to set it.
controller_.pos_setpoint_ = min_endstop_.config_.offset;
controller_.pos_setpoint_ = min_endstop_.config_.offset - (controller_.config_.homing_speed * (min_endstop_.config_.debounce_ms / 1000.0f));
controller_.vel_setpoint_ = 0.0f; // Change directions without decelerating
// Set our current position in encoder counts to make control more logical
encoder_.set_linear_count(min_endstop_.config_.offset - static_cast<int32_t>(controller_.config_.homing_speed * min_endstop_.config_.debounce_ms / 1000.0f));
encoder_.set_linear_count(static_cast<int32_t>(controller_.pos_setpoint_));
controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
Firmware/MotorControl/endstop.hpp
+2 -2
View File
@@ -4,11 +4,11 @@
class Endstop {
public:
struct Config_t {
float offset = 0;
float debounce_ms = 50.0f;
uint16_t gpio_num;
bool enabled = false;
int32_t offset = 0;
bool is_active_high = false;
float debounce_ms = 50.0f;
};
Endstop(Endstop::Config_t& config);