made some code changes and moved to 3.5

source_code/Teensy32/src/encoder.cpp

@@ -20,7 +20,7 @@ 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 = 321;
+int hard_coded_offset = 5101;
 
 // how long in microsec (us) to delay between phases while calibrating
 // the wheel

source_code/Teensy32/src/main.cpp

@@ -38,30 +38,37 @@ S TO START BUTT CONTROL (OPTIMIZED)\n");
         }
         else if(incomingByte == 'z') //'z'
         {
+            charge_bootstrap_capacitors();
             do_hard_coded_offset();// run the set zero
         }
         else if(incomingByte == 'o') //'o'
         {
+            charge_bootstrap_capacitors();
             open_loop_control();
         }
         else if(incomingByte == 'l') //'l'
         {
+            charge_bootstrap_capacitors();
             locate_state_positions();
         }
         else if (incomingByte == 'd') //'d'
         {
+            charge_bootstrap_capacitors();
             direct_position_control();
         }
         else if (incomingByte == 'b') //'b'
         {
+            charge_bootstrap_capacitors();
             motor_butt_control_inefficient();
         }
         else if (incomingByte == 's') //'s'
         {
+            charge_bootstrap_capacitors();
             motor_butt_control_precalculated();
         }
     }
 
+    charge_bootstrap_capacitors();  
     int calibration_return = calibrate_encoder();
     if(calibration_return == -1)
     {

source_code/Teensy32/src/motor_ctrl.cpp

@@ -39,6 +39,7 @@ void set_block_phase(int phase);
 void motor_butt_control_inefficient(void);
 void set_phase_float(float f1, float f2, float f3);
 void motor_butt_control_precalculated(void);
+void charge_bootstrap_capacitors(void);
 
 
 
@@ -127,19 +128,30 @@ void set_block_phase(int phase)
     return;
 }
 
-// This function takes in a seris of
+// 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);
- 
-    digitalWrite(L1, low1);
-    digitalWrite(L2, low2);
-    digitalWrite(L3, low3);
-    analogWrite(H1, high1);
-    analogWrite(H2, high2);
-    analogWrite(H3, high3);
+
+    //turn the stuff that should be off, off first
+
+    if (! low1) digitalWrite(L1, low1);
+    if (! low2) digitalWrite(L2, low2);
+    if (! low3) digitalWrite(L3, low3);
+    if (! high1) analogWrite(H1, high1);
+    if (! high2) analogWrite(H2, high2);
+    if (! high3) analogWrite(H3, high3);
+
+    //turn the stuff that should be on, on
+
+    if (low1) digitalWrite(L1, low1);
+    if (low2) digitalWrite(L2, low2);
+    if (low3) digitalWrite(L3, low3);
+    if (high1) analogWrite(H1, high1);
+    if (high2) analogWrite(H2, high2);
+    if (high3) analogWrite(H3, high3);
 }
 
 void set_phase_float(float f1, float f2, float f3)
@@ -246,6 +258,17 @@ void open_loop_control(void)
     }
 }
 
+// This just charges up the small boostrap capacitors
+// this should allways be called right before powering the motor
+void charge_bootstrap_capacitors(void)
+{
+    turn_all_off();
+    delayMicroseconds(50);
+    set_phase(0,0,0,1,1,1);
+    delayMicroseconds(50);
+    turn_all_off();
+}
+
 //using hardcoded located state positions
 void direct_position_control(void) 
 {

source_code/Teensy32/src/motor_ctrl.h

@@ -10,6 +10,7 @@ void set_phase(int high1, int high2, int high3, int low1, int low2, int low3);
 void motor_butt_control_inefficient(void);
 void set_phase_float(float f1, float f2, float f3);
 void motor_butt_control_precalculated(void);
+void charge_bootstrap_capacitors(void);
 
 
 

source_code/Teensy32/src/utils.cpp

@@ -47,7 +47,7 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
     // This code is used to make sure that the pwm nver has a period
     // lower than 250 ns (as this may be problematic for gate drivrs)
     if ((period_over_255 * potval) < 250.0E-9){
-        potval = 0.0;
+        return (int)0;
     }
 
     return (int)potval;