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Fixed the encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi

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This commit is contained in:
PAJohnson
2020-10-29 00:20:39 -04:00
parent 0aa32b012c
commit e9d5f55570
2 changed files with 6 additions and 3 deletions
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Firmware/MotorControl/encoder.cpp
+5 -2
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@@ -228,10 +228,13 @@ bool Encoder::run_offset_calibration() {
else
return false;
// go to motor zero phase for start_lock_duration to get ready to scan
// go to start position of forward scan for start_lock_duration to get ready to scan
int i = 0;
axis_->run_control_loop([&](){
if (!axis_->motor_.enqueue_voltage_timings(voltage_magnitude, 0.0f))
float phase = wrap_pm_pi(0 - config_.calib_scan_distance / 2.0f);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
return false; // error set inside enqueue_voltage_timings
axis_->motor_.log_timing(TIMING_LOG_ENC_CALIB);
return ++i < start_lock_duration * current_meas_hz;