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Merge branch 'anticogging_saver' into RazorsEdge

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This commit is contained in:
Paul Guenette
2019-05-25 14:16:46 +02:00
parent 820fd72ae8 301d68adc6
commit cc36edeabf
6 changed files with 36 additions and 45 deletions
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Firmware/MotorControl/axis.cpp
-10
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@@ -323,16 +323,6 @@ bool Axis::run_idle_loop() {
// Infinite loop that does calibration and enters main control loop as appropriate
void Axis::run_state_machine_loop() {
// Allocate the map for anti-cogging algorithm and initialize all values to 0.0f
// TODO: Move this somewhere else
// TODO: respect changes of CPR
int encoder_cpr = encoder_.config_.cpr;
controller_.anticogging_.cogging_map = (float*)malloc(encoder_cpr * sizeof(float));
if (controller_.anticogging_.cogging_map != NULL) {
for (int i = 0; i < encoder_cpr; i++) {
controller_.anticogging_.cogging_map[i] = 0.0f;
}
}
// arm!
motor_.arm();