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Update endstops before checking for errors

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This commit is contained in:
Paul Guenette
2022-01-22 17:48:41 -05:00
parent d438607d7d
commit d1bb0049bf
2 changed files with 8 additions and 6 deletions
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Firmware/MotorControl/main.cpp
+7 -5
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@@ -400,6 +400,13 @@ void ODrive::control_loop_cb(uint32_t timestamp) {
odrv.oscilloscope_.update();
}
for (auto& axis : axes) {
MEASURE_TIME(axis.task_times_.endstop_update) {
axis.min_endstop_.update();
axis.max_endstop_.update();
}
}
MEASURE_TIME(task_times_.control_loop_checks) {
for (auto& axis: axes) {
// look for errors at axis level and also all subcomponents
@@ -432,11 +439,6 @@ void ODrive::control_loop_cb(uint32_t timestamp) {
MEASURE_TIME(axis.task_times_.sensorless_estimator_update)
axis.sensorless_estimator_.update();
MEASURE_TIME(axis.task_times_.endstop_update) {
axis.min_endstop_.update();
axis.max_endstop_.update();
}
MEASURE_TIME(axis.task_times_.controller_update)
axis.controller_.update(); // uses position and velocity from encoder