added limiter to pwm durring calibration

source_code/Teensy35/src/encoder.cpp

@@ -14,6 +14,8 @@ int encoder_ticks_in_elec_rotation = 682; // floor(8193 / 12)=682
 // has the motor been calibrated
 bool calibrated = false; 
 
+bool calibration_complete = false; // similar to the bool above but not used inside any interupts
+
 // define the offset from zero using interrupt and the z signal
 // This offset is different each time it starts up and must be calibrated
 int Zoffset = 0;
@@ -21,7 +23,7 @@ int Zoffset = 0;
 // This is the difference in encoder tics from the Z index to 
 // the electrical encoder zero (which is found by powering the 
 // AB block and waiting for the motor to settle)
-int hard_coded_offset = 387;
+int hard_coded_offset = -615;
 
 
 //Invert position to invert position add 341 to any offset
@@ -265,6 +267,9 @@ int calibrate_encoder()
             if(getDebugOn()) {
                 Serial.println("CALIBRATION SUCCESSFULL");
             }
+            cli();
+            calibration_complete = true;
+            sei();
             return 1;
         }
     }
@@ -274,6 +279,11 @@ int calibrate_encoder()
     return -1;
 }
 
+bool is_calibration_complete()
+{
+    return calibration_complete;
+}
+
 //This will provide debug prints with info that could be usefull
 void debug_encoder(void)
 {

source_code/Teensy35/src/encoder.h

@@ -12,6 +12,8 @@ int get_raw_wheel_position_ticks(void);
 int get_elec_rev_position_ticks(int mechanical_position);
 int get_phase_number(int elec_position);
 int get_Zoffset(void);
+bool is_calibration_complete();
+
 
 
 

source_code/Teensy35/src/utils.cpp

@@ -3,7 +3,9 @@
 #include "motor_ctrl.h"
 #include "encoder.h"
 
-const float UPWARD_ROC_LIMITER = 0.005;
+float CALIBRATION_MAX_PWM = 53.0;
+
+const float UPWARD_ROC_LIMITER = 20.0;
 float UPWARD_ROC_PREV_VALUE = 0;
 
 #define debugJumperOut 11
@@ -62,12 +64,12 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
     volatile float raw_potval = analogRead(A0);
     float potval = raw_potval;
 
-    // if ((potval - UPWARD_ROC_PREV_VALUE) > UPWARD_ROC_LIMITER) {
-    //     potval = UPWARD_ROC_PREV_VALUE + UPWARD_ROC_LIMITER;
-    // }
-    // else if ((potval - UPWARD_ROC_PREV_VALUE) < UPWARD_ROC_LIMITER) {
-    //     potval = UPWARD_ROC_PREV_VALUE - UPWARD_ROC_LIMITER;
-    // }
+    if ((potval - UPWARD_ROC_PREV_VALUE) > UPWARD_ROC_LIMITER) {
+        potval = UPWARD_ROC_PREV_VALUE + UPWARD_ROC_LIMITER;
+    }
+    else if ((potval - UPWARD_ROC_PREV_VALUE) < UPWARD_ROC_LIMITER) {
+        potval = UPWARD_ROC_PREV_VALUE - UPWARD_ROC_LIMITER;
+    }
 
     UPWARD_ROC_PREV_VALUE = potval;
 
@@ -82,6 +84,13 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
         return (int)0;
     }
 
+    //This code creates a limit on the amount of power durring calibration
+    if (!is_calibration_complete()){
+        if (potval > CALIBRATION_MAX_PWM){
+            return CALIBRATION_MAX_PWM;
+        }
+    }
+
     return (int)potval;
 }