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merge fixes

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This commit is contained in:
PAJohnson
2020-12-01 22:48:47 -05:00
parent 5331df8883
commit dc1721a1dd
3 changed files with 2 additions and 5 deletions
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Firmware/MotorControl/encoder.cpp
+1 -1
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@@ -664,7 +664,7 @@ bool Encoder::update() {
return false;
}
auto maybe_phase = axis_->open_loop_controller_.phase_.get_any();
auto maybe_phase = axis_->open_loop_controller_.phase_.any();
if (maybe_phase) {
float phase = maybe_phase.value();
// Early increment to get the right divisor in recursive average
Firmware/MotorControl/encoder.hpp
-3
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@@ -24,9 +24,6 @@ public:
float phase_offset_float = 0.0f; // Sub-count phase alignment offset
int32_t cpr = (2048 * 4); // Default resolution of CUI-AMT102 encoder,
float index_offset = 0.0f;
uint16_t abs_spi_cs_gpio_pin = 1;
uint16_t sincos_gpio_pin_sin = 3;
uint16_t sincos_gpio_pin_cos = 4;
bool use_index = false;
bool pre_calibrated = false; // If true, this means the offset stored in
// configuration is valid and does not need
Firmware/odrive-interface.yaml
+1 -1
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@@ -974,7 +974,7 @@ interfaces:
pos_estimate_counts: readonly float32
pos_cpr_counts: readonly float32
delta_pos_cpr_counts: readonly float32
pos_circular: {type: readonly float32, c_getter: pos_circular_.get_any().value_or(0.0f)}
pos_circular: {type: readonly float32, c_getter: pos_circular_.any().value_or(0.0f)}
hall_state: readonly uint8
vel_estimate: {type: readonly float32, c_getter: vel_estimate_.any().value_or(0.0f)}
vel_estimate_counts: readonly float32