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Detent tweaks

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This commit is contained in:
Scott Bezek
2022-01-27 09:27:20 -08:00
parent 723396f588
commit f362039a95
3 changed files with 13 additions and 2 deletions
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4
firmware/src/motor_task.cpp
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@@ -113,7 +113,7 @@ void MotorTask::run() {
// get runaway due to sensor noise & lag)).
// TODO: consider eliminating this D factor entirely and just "play" a hardcoded haptic "click" (e.g. a quick burst of torque in each
// direction) whenever the position changes when the detent width is too small for the P factor to work well.
const float derivative_lower_strength = config.detent_strength_unit * 0.06;
const float derivative_lower_strength = config.detent_strength_unit * 0.04;
const float derivative_upper_strength = config.detent_strength_unit * 0;
const float derivative_position_width_lower = 5 * PI / 180;
const float derivative_position_width_upper = 10 * PI / 180;
@@ -164,7 +164,7 @@ 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 = 10; //out_of_bounds ? 10 : 3;
motor.PID_velocity.P = out_of_bounds ? 4 : config.detent_strength_unit * 4;
motor.PID_velocity.P = out_of_bounds ? config.endstop_strength_unit * 4 : config.detent_strength_unit * 4;