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make scan rate configurable

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This commit is contained in:
Oskar Weigl
2016-11-20 15:56:09 +09:00
parent 469efd3477
commit fc5e1856f4
1 changed files with 3 additions and 3 deletions
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MotorControl/low_level.c
+3 -3
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@@ -341,9 +341,9 @@ static void square_wave_test() {
}
}
static void scan_motor(Motor_t* motor, float voltage_magnitude) {
static void scan_motor(Motor_t* motor, float omega, float voltage_magnitude) {
for(;;) {
for (float ph = 0.0f; ph < 2.0f * M_PI; ph += 1.0f * CURRENT_MEAS_PERIOD) {
for (float ph = 0.0f; ph < 2.0f * M_PI; ph += omega * CURRENT_MEAS_PERIOD) {
float IphB, IphC;
wait_for_current_meas(*motor->current_meas_queue, &IphB, &IphC);
@@ -365,7 +365,7 @@ void motor_thread(void const * argument) {
init_motor_control();
float R = measure_phase_resistance(&motors[0], 3.0f);
scan_motor(&motors[0], 3.0f * R);
scan_motor(&motors[0], 1.0f, 3.0f * R);
// square_wave_test();
}