reversed direction of motor and hand tuned

source_code/Teensy35/src/encoder.cpp

@@ -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);

source_code/Teensy35/src/motor_ctrl.cpp

@@ -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);