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Making circular_setpoints optional in step/dir mode

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.. because circular_setpoints was broken beyond repair.
This commit is contained in:
Torbjørn Ludvigsen
2022-05-04 16:30:30 +02:00
parent 58a6567f83
commit c5017f4baf
1 changed files with 15 additions and 6 deletions
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21
Firmware/MotorControl/controller.cpp
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@@ -89,10 +89,15 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
void Controller::set_input_pos_and_steps(float const pos) {
input_pos_ = pos;
float const range = config_.circular_setpoint_range;
axis_->steps_ = (int64_t)(fmodf_pos(pos, range) / range * config_.steps_per_circular_range);
if (config_.circular_setpoints) {
float const range = config_.circular_setpoint_range;
axis_->steps_ = (int64_t)(fmodf_pos(pos, range) / range * config_.steps_per_circular_range);
} else {
axis_->steps_ = (int64_t)(pos * config_.steps_per_circular_range);
}
}
void Controller::update_filter_gains() {
float bandwidth = std::min(config_.input_filter_bandwidth, 0.25f * current_meas_hz);
input_filter_ki_ = 2.0f * bandwidth; // basic conversion to discrete time
@@ -115,11 +120,15 @@ bool Controller::update() {
std::optional<float> anticogging_vel_estimate = axis_->encoder_.vel_estimate_.present();
if (axis_->step_dir_active_) {
if (!pos_wrap.has_value()) {
set_error(ERROR_INVALID_CIRCULAR_RANGE);
return false;
if (config_.circular_setpoints) {
if (!pos_wrap.has_value()) {
set_error(ERROR_INVALID_CIRCULAR_RANGE);
return false;
}
input_pos_ = (float)(axis_->steps_ % config_.steps_per_circular_range) * (*pos_wrap / (float)(config_.steps_per_circular_range));
} else {
input_pos_ = (float)(axis_->steps_) / (float)(config_.steps_per_circular_range);
}
input_pos_ = (float)(axis_->steps_ % config_.steps_per_circular_range) * (*pos_wrap / (float)(config_.steps_per_circular_range));
}
if (config_.anticogging.calib_anticogging) {