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Puts fmodf_pos back into the steps_ assignment

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Torbjørn Ludvigsen
2022-04-07 15:10:25 +02:00
parent ae262e4cd1
commit d272fbe2b4
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/controller.cpp
+1 -1
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@@ -90,7 +90,7 @@ 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)(wrap_pm(pos, range) / range * config_.steps_per_circular_range);
axis_->steps_ = (int64_t)(fmodf_pos(pos, range) / range * config_.steps_per_circular_range);
}
void Controller::update_filter_gains() {