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rename some of the new functions and variables

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This commit is contained in:
Samuel Sadok
2020-11-16 21:03:23 +01:00
parent f0cee61348
commit c32cbec58c
16 changed files with 88 additions and 88 deletions
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Firmware/MotorControl/axis.cpp
+7 -7
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@@ -204,11 +204,11 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config, bool remain_arme
motor_.current_control_.Vdq_setpoint_src_.connect_to(&open_loop_controller_.Vdq_setpoint_);
motor_.current_control_.phase_src_.connect_to(&open_loop_controller_.phase_);
async_estimator_.rotor_phase_src_.connect_to(&open_loop_controller_.phase_);
acim_estimator_.rotor_phase_src_.connect_to(&open_loop_controller_.phase_);
motor_.phase_vel_src_.connect_to(&open_loop_controller_.phase_vel_);
motor_.current_control_.phase_vel_src_.connect_to(&open_loop_controller_.phase_vel_);
async_estimator_.rotor_phase_vel_src_.connect_to(&open_loop_controller_.phase_vel_);
acim_estimator_.rotor_phase_vel_src_.connect_to(&open_loop_controller_.phase_vel_);
}
wait_for_control_iteration();
@@ -219,8 +219,8 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config, bool remain_arme
float dir = lockin_config.vel >= 0.0f ? 1.0f : -1.0f;
while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_) {
bool reached_target_vel = std::abs(open_loop_controller_.phase_vel_.get_any().value_or(0.0f) - lockin_config.vel) <= std::numeric_limits<float>::epsilon();
bool reached_target_dist = open_loop_controller_.total_distance_.get_any().value_or(0.0f) * dir >= lockin_config.finish_distance * dir;
bool reached_target_vel = std::abs(open_loop_controller_.phase_vel_.any().value_or(0.0f) - lockin_config.vel) <= std::numeric_limits<float>::epsilon();
bool reached_target_dist = open_loop_controller_.total_distance_.any().value_or(0.0f) * dir >= lockin_config.finish_distance * dir;
// Check if terminal condition is reached
bool terminal_condition = (reached_target_vel && lockin_config.finish_on_vel)
@@ -286,7 +286,7 @@ bool Axis::start_closed_loop_control() {
if (controller_.config_.control_mode >= Controller::CONTROL_MODE_POSITION_CONTROL) {
std::optional<float> pos_init = (controller_.config_.circular_setpoints ?
controller_.pos_estimate_circular_src_ :
controller_.pos_estimate_linear_src_).get_any();
controller_.pos_estimate_linear_src_).any();
if (!pos_init.has_value()) {
return false;
} else {
@@ -308,12 +308,12 @@ bool Axis::start_closed_loop_control() {
OutputPort<float>* phase_src = sensorless_mode ? &sensorless_estimator_.phase_ : &encoder_.phase_;
motor_.current_control_.phase_src_.connect_to(phase_src);
async_estimator_.rotor_phase_src_.connect_to(phase_src);
acim_estimator_.rotor_phase_src_.connect_to(phase_src);
OutputPort<float>* phase_vel_src = sensorless_mode ? &sensorless_estimator_.phase_vel_ : &encoder_.phase_vel_;
motor_.phase_vel_src_.connect_to(phase_vel_src);
motor_.current_control_.phase_vel_src_.connect_to(phase_vel_src);
async_estimator_.rotor_phase_vel_src_.connect_to(phase_vel_src);
acim_estimator_.rotor_phase_vel_src_.connect_to(phase_vel_src);
if (sensorless_mode) {
// Make the final velocity of the loĉk-in spin the setpoint of the