From b41016eba3756f5f3d15802bf39bb9af8bcc7c59 Mon Sep 17 00:00:00 2001 From: tobbelobb Date: Thu, 18 Oct 2018 13:29:05 +0200 Subject: [PATCH 1/2] Update commands.md --- docs/commands.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/commands.md b/docs/commands.md index 7e7fe3da..05c28364 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -22,14 +22,14 @@ The current state of an axis is indicated by `.current_state`. The user ca 1. `AXIS_STATE_IDLE` Disable motor PWM and do nothing. 2. `AXIS_STATE_STARTUP_SEQUENCE` Run the [startup procedure](#startup-procedure). - 3. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `.encoder.use_index` is `True`). + 3. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `.encoder.config.use_index` is `True`). 4. `AXIS_STATE_MOTOR_CALIBRATION` Measure phase resistance and phase inductance of the motor. * To store the results set `.motor.config.pre_calibrated` to `True` and [save the configuration](#saving-the-configuration). After that you don't have to run the motor calibration on the next start up. * This modifies the variables `.motor.config.phase_resistance` and `.motor.config.phase_inductance`. 5. `AXIS_STATE_SENSORLESS_CONTROL` Run sensorless control. * The motor must be calibrated (`.motor.is_calibrated`) * [`.controller.control_mode`](#control-mode) must be `True`. - 6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `.encoder.config.use_index` is `True`. + 6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `.encoder.config.config.use_index` is `True`. 7. `AXIS_STATE_ENCODER_OFFSET_CALIBRATION` Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase. * Can only be entered if the motor is calibrated (`.motor.is_calibrated`). * A successful encoder calibration will make the `.encoder.is_ready` go to true. From 30b950008389708e1a4e9a90ed75aaf8f4749c5e Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Thu, 18 Oct 2018 22:21:28 -0700 Subject: [PATCH 2/2] Update commands.md --- docs/commands.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/commands.md b/docs/commands.md index 05c28364..32b7769d 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -29,7 +29,7 @@ The current state of an axis is indicated by `.current_state`. The user ca 5. `AXIS_STATE_SENSORLESS_CONTROL` Run sensorless control. * The motor must be calibrated (`.motor.is_calibrated`) * [`.controller.control_mode`](#control-mode) must be `True`. - 6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `.encoder.config.config.use_index` is `True`. + 6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `.encoder.config.use_index` is `True`. 7. `AXIS_STATE_ENCODER_OFFSET_CALIBRATION` Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase. * Can only be entered if the motor is calibrated (`.motor.is_calibrated`). * A successful encoder calibration will make the `.encoder.is_ready` go to true.