From c6b19ac75f1fa6a2f6e784ad0859b966ce82d5ff Mon Sep 17 00:00:00 2001 From: Unknown Date: Sun, 2 Sep 2018 11:31:57 -0400 Subject: [PATCH] Deccel -> decel --- Firmware/MotorControl/controller.cpp | 2 +- Firmware/MotorControl/controller.hpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp index fe8fab52..c9b65019 100644 --- a/Firmware/MotorControl/controller.cpp +++ b/Firmware/MotorControl/controller.cpp @@ -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; diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp index 1ceb8e6a..0736fbfa 100644 --- a/Firmware/MotorControl/controller.hpp +++ b/Firmware/MotorControl/controller.hpp @@ -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",