Commit 77fbeed9 authored by thcl's avatar thcl
Browse files

Merge branch 'fix_detached_head2' into 'master'

Fix detached head2

See merge request !3
parents 1c6a097a bb169443
{
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\ No newline at end of file
......@@ -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 = -615;
int hard_coded_offset = -420 - 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);
......@@ -320,7 +321,12 @@ void debug_encoder(void)
delayMicroseconds(1000);
}
}
}
void set_calibration_comlete() {
cli();
calibration_complete = true;
sei();
}
......@@ -13,8 +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_complete();
void set_calibration_comlete(void);
......
......@@ -29,7 +29,7 @@ const int time_led = 1;
int const SCALE_FACTOR = 255;
// This is the PWM frequency and it is very important
int FREQ = 22000; //8000 was our original value;
int FREQ = 22000;//22000; //8000 was our original value;
// This is the lower limit of PWM frequency
// its important for not breaking gate drivers
......@@ -135,7 +135,9 @@ int one_to_scaleFactor(int x)
{
// NOTE: The scale factor is the max value we want out of
// the potentiometer
return get_pot_0_scaled(SCALE_FACTOR, PERIOD_OVER_255);
cli();
return POT_0_VALUE;
sei();
}
else{
return 0;
......@@ -183,10 +185,13 @@ void set_block_phase(int phase)
// This function takes in a seris of 1 and 0s
void set_phase(int high1, int high2, int high3, int low1, int low2, int low3)
{
high1 = one_to_scaleFactor(high1);
high2 = one_to_scaleFactor(high2);
high3 = one_to_scaleFactor(high3);
//turn the stuff that should be off, off first
cli();
if (! low1) analogWrite(L1, 0);
......@@ -399,9 +404,15 @@ 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 = 1; p <= 6; p++)
for(int p = 6; p >= 1; p--)
{
set_block_phase(p);
//What's going on with this math, explination:
......@@ -410,7 +421,7 @@ 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 = 1500 + (get_pot_1_inv() * 300);
volatile int myDelay = 6000;
// Serial.println("my delay:");
// Serial.println(myDelay);
// Serial.println("my speed:");
......@@ -569,7 +580,7 @@ void debug_motor(void) {
case 3:
set_phase(0,1,0,0,0,1);
Serial.println("I AM IN STATE 3-EC");
Serial.println("I AM IN STATE 3-BC");
break;
case 4:
......
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