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Better demo UI, show config name, tune for re-mounted motor

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This commit is contained in:
Scott Bezek
2022-01-15 16:57:37 -08:00
parent 381df91b92
commit b380a756c3
7 changed files with 127 additions and 79 deletions
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22
firmware/src/motor_task.cpp
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@@ -69,7 +69,7 @@ void MotorTask::run() {
tlv.update();
delay(10);
motor.initFOC(6, Direction::CW);
motor.initFOC(-0.6, Direction::CCW);
Serial.println(motor.zero_electric_angle);
command.add('M', &doMotor, "foo");
@@ -90,6 +90,8 @@ void MotorTask::run() {
uint32_t last_idle_start = 0;
uint32_t last_debug = 0;
uint32_t last_display_update = 0;
while (1) {
motor.loopFOC();
@@ -138,21 +140,23 @@ void MotorTask::run() {
bool out_of_bounds = config.num_positions > 0 && ((angle_to_detent_center > 0 && config.position == 0) || (angle_to_detent_center < 0 && config.position == config.num_positions - 1));
motor.PID_velocity.limit = out_of_bounds ? 10 : 3;
motor.PID_velocity.P = out_of_bounds ? 4 : config.detent_strength_unit * 4;
motor.PID_velocity.D = config.detent_strength_unit * 0.04;
motor.PID_velocity.D = config.detent_strength_unit * 0.02;
if (fabsf(motor.shaft_velocity) > 20) {
// Don't apply torque if velocity is too high (helps avoid feedback loop)
// Don't apply torque if velocity is too high (helps avoid positive feedback loop/runaway)
motor.move(0);
} else {
motor.move(motor.PID_velocity(-angle_to_detent_center + dead_zone_adjustment));
}
display_task_.setData({
.num_positions = config.num_positions,
.current_position = config.position,
.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
.position_width_radians = config.position_width_radians,
});
if (millis() - last_display_update > 10) {
display_task_.setData({
.current_position = config.position,
.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
.config = config,
});
last_display_update = millis();
}
motor.monitor();
// command.run();