added a set_calibration method so we can set calibration to true before we...

added a set_calibration method so we can set calibration to true before we enter open loop, so that get_pot_0_scaled will work.

source_code/Teensy35/src/encoder.cpp

@@ -23,7 +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 = 2416;
+int hard_coded_offset = 2425 - 50;
 
 
 //Invert position to invert position add 341 to any offset
@@ -59,6 +59,7 @@ int get_phase_number(int elec_position);
 void print_speed_ISR(void);
 void buttonA_ISR(void);
 void buttonB_ISR(void);
+void set_calibration_complete(void);
 
 
 
@@ -313,7 +314,12 @@ void debug_encoder(void)
 
         delayMicroseconds(1000);
     }
-    
-}
 
 
+}
+
+void set_calibration_comlete() {
+    cli();
+    calibration_complete = true;
+    sei();
+}

source_code/Teensy35/src/encoder.h

@@ -13,6 +13,7 @@ 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_comlete(void);
 
 
 

source_code/Teensy35/src/motor_ctrl.cpp

@@ -26,7 +26,7 @@ const int led = 13;
 int const SCALE_FACTOR = 240;
 
 // This is the PWM frequency and it is very important
-int FREQ = 22000; //8000 was our original value;
+int FREQ = 8000;//22000; //8000 was our original value;
 
 // This is the lower limit of PWM frequency 
 // its important for not breaking gate drivers
@@ -122,7 +122,9 @@ int one_to_scaleFactor(int x)
     {
         // NOTE: The scale factor is the max value we want out of
         // the potentiometer
+        cli();
         return POT_0_VALUE;
+        sei();
     }
     else{
         return 0;
@@ -175,9 +177,6 @@ void set_phase(int high1, int high2, int high3, int low1, int low2, int low3)
     high2 = one_to_scaleFactor(high2);
     high3 = one_to_scaleFactor(high3);
 
-    Serial.printf("High 1: %d\n", high1);
-    Serial.printf("High 2: %d\n", high2);
-    Serial.printf("High 3: %d\n", high3);
 
 
     //turn the stuff that should be off, off first
@@ -290,6 +289,12 @@ void motor_butt_control_precalculated(void)
 //and torque (potentiometer on pin A0)
 void open_loop_control(void)
 {
+    // This is just a stupid work around for now
+    // Open Loop doesn't really need to calibrate, but
+    // get_pot_0_scaled requires calibration
+    set_calibration_comlete();
+
+
     while(1)
     {
         for(int p = 6; p >= 1; p--)
@@ -301,7 +306,7 @@ void open_loop_control(void)
             // we want the maximum speed to be 2800 us per phase
             // the max speed corresponds to 5 rev/sec 
             // we know we need to go faster but this is just testing
-            volatile int myDelay = 5000 + (get_pot_1_inv() * 300);
+            volatile int myDelay = 6000;
             // Serial.println("my delay:");  
             // Serial.println(myDelay);  
             // Serial.println("my speed:");  

source_code/Teensy35/src/utils.cpp

@@ -97,6 +97,7 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
 //this just prints the output of get_pot_0_scaled
 int debug_pot_0_scaled()
 {
+    set_calibration_comlete();
     while(1){
         Serial.println("value from get_pot_0_scaled");  
         Serial.println(get_pot_0_scaled(240,0.0000000817));