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Fixed null pointer checks in controller.cpp

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Fixed formatting in trapTraj.hpp
Fixed how pos_setpoint is set in axis.cpp to avoid transients on startup so that it will handle circular position setpoints
More unit corrections in the docs: radians -> turns
This commit is contained in:
PAJohnson
2020-07-27 21:26:41 -04:00
parent d650c8caba
commit be2d1037e3
8 changed files with 42 additions and 28 deletions
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Firmware/MotorControl/controller.cpp
+10 -6
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@@ -137,7 +137,7 @@ bool Controller::update(float* torque_setpoint_output) {
}
// TODO also enable circular deltas for 2nd order filter, etc.
if (config_.circular_setpoints && pos_estimate_circular) {
if (config_.circular_setpoints) {
// Keep pos setpoint from drifting
input_pos_ = fmodf_pos(input_pos_, config_.circular_setpoint_range);
}
@@ -226,18 +226,22 @@ bool Controller::update(float* torque_setpoint_output) {
float vel_des = vel_setpoint_;
if (config_.control_mode >= CONTROL_MODE_POSITION_CONTROL) {
float pos_err;
if (!pos_estimate_linear || !pos_estimate_circular) {
set_error(ERROR_INVALID_ESTIMATE);
return false;
}
if (config_.circular_setpoints && pos_estimate_circular) {
if (config_.circular_setpoints) {
if(!pos_estimate_circular) {
set_error(ERROR_INVALID_ESTIMATE);
return false;
}
// Keep pos setpoint from drifting
pos_setpoint_ = fmodf_pos(pos_setpoint_, *pos_wrap_src_);
// Circular delta
pos_err = pos_setpoint_ - *pos_estimate_circular;
pos_err = wrap_pm(pos_err, 0.5f * *pos_wrap_src_);
} else {
if(!pos_estimate_linear) {
set_error(ERROR_INVALID_ESTIMATE);
return false;
}
pos_err = pos_setpoint_ - *pos_estimate_linear;
}