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firmware checkpoint

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This commit is contained in:
Scott Bezek
2021-11-01 22:38:36 -07:00
parent a33c46b29b
commit 26373a9b4e
4 changed files with 38 additions and 22 deletions
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4
firmware/src/motor_task.cpp
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@@ -120,11 +120,11 @@ void MotorTask::run() {
}
float angle_to_detent_center = motor.shaft_angle - current_detent_center;
if (angle_to_detent_center > config.position_width_radians * 1.05 && (config.num_positions <= 0 || config.position > 0)) {
if (angle_to_detent_center > config.position_width_radians * config.snap_point && (config.num_positions <= 0 || config.position > 0)) {
current_detent_center += config.position_width_radians;
angle_to_detent_center -= config.position_width_radians;
config.position--;
} else if (angle_to_detent_center < -config.position_width_radians * 1.05 && (config.num_positions <= 0 || config.position < config.num_positions - 1)) {
} else if (angle_to_detent_center < -config.position_width_radians * config.snap_point && (config.num_positions <= 0 || config.position < config.num_positions - 1)) {
current_detent_center -= config.position_width_radians;
angle_to_detent_center += config.position_width_radians;
config.position++;