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Deccel -> decel

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2018-09-02 11:31:57 -04:00
parent b22bb2ed42
commit c6b19ac75f
2 changed files with 3 additions and 3 deletions
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Firmware/MotorControl/controller.cpp
+1 -1
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@@ -47,7 +47,7 @@ void Controller::set_current_setpoint(float current_setpoint) {
void Controller::move_to_pos(float pos_setpoint) {
planned_move_end_time_ = axis_->trap_.planTrapezoidal(pos_setpoint, axis_->encoder_.pos_estimate_,
axis_->encoder_.vel_estimate_, config_.vel_limit,
config_.accel_limit, config_.deccel_limit);
config_.accel_limit, config_.decel_limit);
config_.control_mode = CTRL_MODE_PLANNED_MOVE_CONTROL;
TrajectoryStep_t myTraj = axis_->trap_.evalTrapTraj(0.0f);
pos_setpoint_ = myTraj.Y;
Firmware/MotorControl/controller.hpp
+2 -2
View File
@@ -23,7 +23,7 @@ struct ControllerConfig_t {
float vel_integrator_gain = 10.0f / 10000.0f; // [A/(counts/s * s)]
float vel_limit = 20000.0f; // [counts/s]
float accel_limit = 5000.0f;
float deccel_limit = 5000.0f;
float decel_limit = 5000.0f;
};
class Controller {
@@ -94,7 +94,7 @@ public:
make_protocol_property("vel_integrator_gain", &config_.vel_integrator_gain),
make_protocol_property("vel_limit", &config_.vel_limit),
make_protocol_property("accel_limit", &config_.accel_limit),
make_protocol_property("deccel_limit", &config_.deccel_limit)),
make_protocol_property("decel_limit", &config_.decel_limit)),
make_protocol_function("set_pos_setpoint", *this, &Controller::set_pos_setpoint,
"pos_setpoint",
"vel_feed_forward",