Commit 4b828896 authored by mattdr's avatar mattdr
Browse files

reversed direction of motor and hand tuned

parent c3eadfee
......@@ -21,14 +21,15 @@ 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 = -307;
int hard_coded_offset = 387;
//Invert position to invert position add 341 to any offset
int opposite_direction_offset = 341;
// hand calibration (done by buttons)
int button_offset = 0;
int button_offset = 60;
//how much of an effect the button press has
int button_offset_increment = 5;
......@@ -41,8 +42,8 @@ int CALIBRATION_DELAY = 28500;
IntervalTimer speed_timer;
// buttons (for hand tuneing)
int ButtonA = 11;
int ButtonB = 12;
int ButtonA = 0;
int ButtonB = 1;
//forward declarations
void isr_index(void);
......@@ -169,7 +170,7 @@ int get_wheel_position_ticks(void)
{
int raw_position = encoder.calcPosn();
cli();
int my_position = raw_position - Zoffset - hard_coded_offset - button_offset;
int my_position = raw_position - Zoffset - hard_coded_offset - button_offset - opposite_direction_offset;
sei();
int wrapped_position = wrap_wheel_tics(my_position);
return wrapped_position;
......@@ -248,7 +249,8 @@ int calibrate_encoder()
}
while(1){
for(int p = 1; p <= 6; p++)
// WARNING THIS IS SPINNING IN THE OTHER DIRECTION
for(int p = 6; p >= 1; p--)
{
set_block_phase(p);
delayMicroseconds(CALIBRATION_DELAY);
......
......@@ -14,9 +14,9 @@
#define L2 20 //YellowL
#define L3 22 //BlueL
#define HB1EN 0 //halfbridge 1 enable
#define HB2EN 1 //halfbridge 2 enable
#define HB3EN 2 //halfbridge 3 enable
// #define HB1EN 0 //halfbridge 1 enable
// #define HB2EN 1 //halfbridge 2 enable
// #define HB3EN 2 //halfbridge 3 enable
const int led = 13;
......@@ -74,13 +74,13 @@ void motor_setup(void) {
turn_all_off();
//setup the halfbridges enables
pinMode(HB1EN, OUTPUT);
pinMode(HB2EN, OUTPUT);
pinMode(HB3EN, OUTPUT);
// pinMode(HB1EN, OUTPUT);
// pinMode(HB2EN, OUTPUT);
// pinMode(HB3EN, OUTPUT);
//enable the halfbridges
digitalWrite(HB1EN, HIGH);
digitalWrite(HB2EN, HIGH);
digitalWrite(HB3EN, HIGH);
// digitalWrite(HB1EN, HIGH);
// digitalWrite(HB2EN, HIGH);
// digitalWrite(HB3EN, HIGH);
//setup led
pinMode(led, OUTPUT);
......
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