Commit efa14e13 authored by thcl's avatar thcl
Browse files

Simplified one_to_scaleFactor. Note debug statements are currently left in,...

Simplified one_to_scaleFactor. Note debug statements are currently left in, and open loop timings are off.
parent 0a98c606
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// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
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// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
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"platformio.platformio-ide"
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......@@ -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 = 2416;
//Invert position to invert position add 341 to any offset
......
......@@ -122,7 +122,7 @@ 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);
return POT_0_VALUE;
}
else{
return 0;
......@@ -170,10 +170,16 @@ 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);
Serial.printf("High 1: %d\n", high1);
Serial.printf("High 2: %d\n", high2);
Serial.printf("High 3: %d\n", high3);
//turn the stuff that should be off, off first
cli();
if (! low1) digitalWrite(L1, low1);
......@@ -286,7 +292,7 @@ void open_loop_control(void)
{
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:
......@@ -295,7 +301,7 @@ 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 = 5000 + (get_pot_1_inv() * 300);
// Serial.println("my delay:");
// Serial.println(myDelay);
// Serial.println("my speed:");
......@@ -454,7 +460,7 @@ 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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