more updates at the tracki

source_code/Teensy35/src/encoder.cpp

@@ -31,7 +31,7 @@ int opposite_direction_offset = 341;
 
 
 // hand calibration (done by buttons)
-int button_offset = 60;
+int button_offset = 70;
 
 //how much of an effect the button press has
 int button_offset_increment = 5;
@@ -45,7 +45,7 @@ IntervalTimer speed_timer;
 
 // buttons (for hand tuneing)
 int ButtonA = 0;
-int ButtonB = 1;
+int ButtonB = 2;
 
 //forward declarations
 void isr_index(void);
@@ -284,6 +284,13 @@ bool is_calibration_complete()
     return calibration_complete;
 }
 
+void set_calibration_complete()
+{
+    cli();
+    calibration_complete = true;
+    sei();
+}
+
 //This will provide debug prints with info that could be usefull
 void debug_encoder(void)
 {

source_code/Teensy35/src/encoder.h

@@ -13,6 +13,8 @@ int get_elec_rev_position_ticks(int mechanical_position);
 int get_phase_number(int elec_position);
 int get_Zoffset(void);
 bool is_calibration_complete();
+void set_calibration_complete();
+
 
 
 

source_code/Teensy35/src/utils.cpp

@@ -3,7 +3,7 @@
 #include "motor_ctrl.h"
 #include "encoder.h"
 
-float CALIBRATION_MAX_PWM = 53.0;
+float CALIBRATION_MAX_PWM = 100.0;
 
 const float UPWARD_ROC_LIMITER = 20.0;
 float UPWARD_ROC_PREV_VALUE = 0;
@@ -71,6 +71,13 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
         potval = UPWARD_ROC_PREV_VALUE - UPWARD_ROC_LIMITER;
     }
 
+    //This code creates a limit on the amount of power durring calibration
+    if (!is_calibration_complete()){
+        if (potval > CALIBRATION_MAX_PWM){
+            potval = CALIBRATION_MAX_PWM;
+        }
+    }
+
     UPWARD_ROC_PREV_VALUE = potval;
 
     potval = potval/1024;
@@ -84,19 +91,19 @@ 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;
-        }
+    if (potval > 255) //limit the top
+    {
+        potval = 255;
     }
 
+
     return (int)potval;
 }
 
 //this just prints the output of get_pot_0_scaled
 int debug_pot_0_scaled()
 {
+    set_calibration_complete();//spoof complete calibration to get proper values
     while(1){
         Serial.println("value from get_pot_0_scaled");  
         Serial.println(get_pot_0_scaled(240,0.0000000817));