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minor wordings and comments

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This commit is contained in:
Oskar Weigl
2020-11-05 21:42:32 -08:00
parent c23076c19c
commit d5838e85d3
1 changed files with 6 additions and 6 deletions
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Firmware/MotorControl/encoder.cpp
+6 -6
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@@ -167,8 +167,8 @@ bool Encoder::run_index_search() {
index_found_ = false;
set_idx_subscribe();
bool status = axis_->run_lockin_spin(axis_->config_.calibration_lockin, false);
return status;
bool success = axis_->run_lockin_spin(axis_->config_.calibration_lockin, false);
return success;
}
bool Encoder::run_direction_find() {
@@ -179,9 +179,9 @@ bool Encoder::run_direction_find() {
lockin_config.finish_on_distance = true;
lockin_config.finish_on_enc_idx = false;
lockin_config.finish_on_vel = false;
bool status = axis_->run_lockin_spin(lockin_config, false);
bool success = axis_->run_lockin_spin(lockin_config, false);
if (status) {
if (success) {
// Check response and direction
if (shadow_count_ > init_enc_val + 8) {
// motor same dir as encoder
@@ -194,7 +194,7 @@ bool Encoder::run_direction_find() {
}
}
return status;
return success;
}
// @brief Turns the motor in one direction for a bit and then in the other
@@ -292,7 +292,6 @@ bool Encoder::run_offset_calibration() {
return false;
}
//TODO avoid recomputing elec_rad_per_enc every time
// Check CPR
float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / (float)(config_.cpr));
float expected_encoder_delta = config_.calib_scan_distance / elec_rad_per_enc;
@@ -374,6 +373,7 @@ void Encoder::sample_now() {
} break;
}
// Sample all GPIO digital input data registers, used for HALL sensors for example.
for (size_t i = 0; i < sizeof(ports_to_sample) / sizeof(ports_to_sample[0]); ++i) {
port_samples_[i] = ports_to_sample[i]->IDR;
}