Commit 297c0f79 authored by mattdr's avatar mattdr
Browse files

fixed some remaining conflicts, tuned motor

parent 11f1f1bf
......@@ -23,7 +23,7 @@ int Zoffset = 0; // THIS IS NOT THE HARDCODED OFFSET, DON'T EDIT IT
// 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 = 2406 - 50;
int hard_coded_offset = 2406;
//Invert position to invert position add 341 to any offset
......@@ -31,7 +31,7 @@ int opposite_direction_offset = 341;
// hand calibration (done by buttons)
int button_offset = 70;
int button_offset = 75;
//how much of an effect the button press has
int button_offset_increment = 5;
......@@ -105,7 +105,7 @@ void encoder_setup(void)
void buttonA_ISR(){
static unsigned long last_interrupt_time = 0;
unsigned long interrupt_time = millis();
if (interrupt_time - last_interrupt_time > 125)
if (interrupt_time - last_interrupt_time > 500)
{
button_offset += button_offset_increment;
Serial.print("+ Button Offset: ");
......@@ -118,7 +118,7 @@ void buttonA_ISR(){
void buttonB_ISR(){
static unsigned long last_interrupt_time = 0;
unsigned long interrupt_time = millis();
if (interrupt_time - last_interrupt_time > 125)
if (interrupt_time - last_interrupt_time > 500)
{
button_offset -= button_offset_increment;
Serial.print("- Button Offset: ");
......
......@@ -11,10 +11,7 @@ void locate_state_positions(void);
void direct_position_control(void);
void debug_low_state_by_state(void);
int debug_pot_0_scaled(void);
<<<<<<< HEAD
=======
int ROC_limiter(int potval);
>>>>>>> 6e3996c33ae3a7925a12b8e9282cd01a004ef3b3
void set_calibration_complete(void);
......
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