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Remove set_pos_setpoint calls

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This commit is contained in:
Paul Guenette
2019-05-25 14:18:50 +02:00
parent cc36edeabf
commit eb385f0bb9
1 changed files with 8 additions and 2 deletions
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Firmware/MotorControl/controller.cpp
+8 -2
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@@ -86,11 +86,17 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
config_.anticogging.cogging_map[std::clamp(config_.anticogging.index++, 0, 3600)] = vel_integrator_current_;
}
if (config_.anticogging.index < 3600) {
set_pos_setpoint(config_.anticogging.index * config_.anticogging.cogging_ratio, 0.0f, 0.0f);
config_.control_mode = CTRL_MODE_POSITION_CONTROL;
pos_setpoint_ = config_.anticogging.index * config_.anticogging.cogging_ratio;
vel_setpoint_ = 0.0f;
current_setpoint_ = 0.0f;
return false;
} else {
config_.anticogging.index = 0;
set_pos_setpoint(0.0f, 0.0f, 0.0f); // Send the motor home
config_.control_mode = CTRL_MODE_POSITION_CONTROL;
pos_setpoint_ = 0.0f; // Send the motor home
vel_setpoint_ = 0.0f;
current_setpoint_ = 0.0f;
config_.anticogging.use_anticogging = true; // We're good to go, enable anti-cogging
config_.anticogging.calib_anticogging = false;
return true;