set encoder to ready state on startup for hall effect mode

2026-09-21 15:34:33 +08:00 · 2018-04-27 12:08:23 -07:00
parent d4ba260990
commit d827d7f1d1
1 changed files with 5 additions and 0 deletions
@@ -14,6 +14,11 @@ Encoder::Encoder(const EncoderHardwareConfig_t& hw_config,

    // Critically damped
    pll_ki_ = 0.25f * (pll_kp_ * pll_kp_);
+
+    if (config.pre_calibrated && (config.mode == Encoder::MODE_HALL)) {
+        offset_ = config.offset;
+        is_ready_ = true;
+    }
 }

 static void enc_index_cb_wrapper(void* ctx) {