lurenaud/DJI-Gimbal-FOC
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Remove Serial print debug

Browse Source
This commit is contained in:
Lucien RENAUD 2022-09-01 17:50:35 +02:00
parent 1e34b1992e
commit 3b206b7e3f
1 changed files with 6 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
src/linearHallSensor.cpp
View File

@ -93,7 +93,7 @@ void LinearHallSensor::init(BLDCMotor motor)
_maxCh1 = _minCh1;
_maxCh2 = _minCh2;
Serial.println("\tFinding end stops");
Serial.println("\t- Finding end stops");
while (!endFound)
{
senseA[ptr] = analogRead(_analogPin1);
@ -109,13 +109,6 @@ void LinearHallSensor::init(BLDCMotor motor)
else if (senseB[ptr] < _minCh2)
_minCh2 = senseB[ptr];
// Serial.printf("senseA: ");
// print_arr(senseA, N);
// Serial.printf(" std_var: %lu\n", std_var(senseA, N));
// Serial.printf("senseB: ");
// print_arr(senseB, N);
// Serial.printf(" std_var: %lu\n", std_var(senseB, N));
if (std_var(senseA, N) < epsilon && std_var(senseB, N) < epsilon)
endFound = true;
@ -131,7 +124,7 @@ void LinearHallSensor::init(BLDCMotor motor)
currentPosition = _maxPositionEndValue - M_PI / 8;
delay(100);
motor.move(currentPosition);
Serial.println("Found first end stop : Max position = " + String(_maxPositionEndValue));
Serial.println("\t- Found first end stop : Max position = " + String(_maxPositionEndValue));
delay(100);
// Swipe motor to search other hard end, and find eventually new max analog values of sensors
@ -157,9 +150,6 @@ void LinearHallSensor::init(BLDCMotor motor)
else if (senseB[ptr] < _minCh2)
_minCh2 = senseB[ptr];
// Serial.printf("senseA: "); print_arr(senseA, N); Serial.printf(" std_var: %lu\n", std_var(senseA, N));
// Serial.printf("senseB: "); print_arr(senseB, N); Serial.printf(" std_var: %lu\n", std_var(senseB, N));
if (std_var(senseA, N) < epsilon && std_var(senseB, N) < epsilon)
endFound = true;
@ -171,7 +161,7 @@ void LinearHallSensor::init(BLDCMotor motor)
delay(2);
}
_minPositionEndValue = currentPosition + (step * (ptr > N ? N : ptr));
Serial.println("Found second end stop : Min position = " + String(_minPositionEndValue));
Serial.println("\t- Found second end stop : Min position = " + String(_minPositionEndValue));
delay(100);
// Set min offset with 50 values average
@ -181,8 +171,8 @@ void LinearHallSensor::init(BLDCMotor motor)
sum += readSensorCallback();
_offset = -sum / 50.0;
Serial.println("\n\rmaxA: " + String(_maxCh1) + "\tminA: " + String(_minCh1) + "\tmaxB: " + String(_maxCh2) + "\tminB: " + String(_minCh2));
Serial.println("Offset: " + String(_offset));
Serial.println("\t- maxA: " + String(_maxCh1) + "\tminA: " + String(_minCh1) + "\tmaxB: " + String(_maxCh2) + "\tminB: " + String(_minCh2));
Serial.println("\t- Offset: " + String(_offset));
// Read max angle
for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.005)
@ -199,7 +189,7 @@ void LinearHallSensor::init(BLDCMotor motor)
sum += readSensorCallback();
_maxSensor = sum / 50.0;
Serial.println("Max sensor: " + String(_maxSensor));
Serial.println("\t- Max sensor: " + String(_maxSensor));
// Recovering previous controller type and go in the middle
for (float i = _maxPositionEndValue; i >= (_maxPositionEndValue + _minPositionEndValue) / 2.0; i = i - 0.01)