Implemented Rate of Change Limiter in both directions.

source_code/Teensy35/src/motor_ctrl.cpp

@@ -24,7 +24,7 @@ const int led = 13;
 int const SCALE_FACTOR = 240;
 
 // This is the PWM frequency and it is very important
-int FREQ = 8000; //8000;
+int FREQ = 22000; //8000 was our original value;
 
 // This is the lower limit of PWM frequency 
 // its important for not breaking gate drivers

source_code/Teensy35/src/utils.cpp

@@ -3,6 +3,9 @@
 #include "motor_ctrl.h"
 #include "encoder.h"
 
+const float UPWARD_ROC_LIMITER = 0.005;
+float UPWARD_ROC_PREV_VALUE = 0;
+
 //This function will just block until the user hits the space bar
 void block_until_spacebar(void)
 {
@@ -39,6 +42,16 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
 {
     volatile float raw_potval = analogRead(A0);
     float potval = raw_potval;
+
+    if ((potval - UPWARD_ROC_PREV_VALUE) > UPWARD_ROC_LIMITER) {
+        potval = UPWARD_ROC_PREV_VALUE + UPWARD_ROC_LIMITER;
+    }
+    else if ((potval - UPWARD_ROC_PREV_VALUE) < UPWARD_ROC_LIMITER) {
+        potval = UPWARD_ROC_PREV_VALUE - UPWARD_ROC_LIMITER;
+    }
+
+    UPWARD_ROC_PREV_VALUE = potval;
+
     potval = potval/1024;
     potval = potval * scaleFactor; 
 
@@ -54,11 +67,11 @@ 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(void)
+int debug_pot_0_scaled()
 {
     while(1){
         Serial.println("value from get_pot_0_scaled");  
-        Serial.println(get_pot_0_scaled(50,0.0000000817));
+        Serial.println(get_pot_0_scaled(240,0.0000000817));
         delay(200);  // do not go too fast!
 
     }
@@ -66,9 +79,6 @@ int debug_pot_0_scaled(void)
 }
 
 
-
-
-
 // This function just rotates the motor to position CB, waits until
 // everything stops moving, takes a read of what the encoder has
 // prints it to the command line and then turns everything off
@@ -126,6 +136,9 @@ void debug_low_state_by_state(void)
     Serial.println("Hit space to call turn_all_off()");
     block_until_spacebar();
     turn_all_off();
+    Serial.println("Hit space to call setphase(1,0,0,0,0,0");
+    block_until_spacebar();
+    set_phase(1,0,0,0,0,0);
     Serial.println("Hit space to call setphase(0,0,0,0,0,0)");
     block_until_spacebar();
     set_phase(0,0,0,0,0,0);