lurenaud/DJI-Gimbal-FOC
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This commit is contained in:
Lucien Renaud 2022-05-25 18:58:36 +02:00
parent ac654025e4
commit 95574ccb32
2 changed files with 6 additions and 5 deletions
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10
src/linearHallSensor.cpp
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@ -23,8 +23,10 @@ void LinearHallSensor::init(BLDCMotor motor)
uint32_t senseA = analogRead(_analogPin1); uint32_t senseA = analogRead(_analogPin1);
uint32_t senseB = analogRead(_analogPin2); uint32_t senseB = analogRead(_analogPin2);
_minCh1 = senseA, _maxCh1 = senseA; _minCh1 = senseA;
_minCh2 = senseB, _maxCh2 = senseB; _maxCh1 = senseA;
_minCh2 = senseB;
_maxCh2 = senseB;
// Swipe motor // Swipe motor
for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.005) for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.005)
@ -90,7 +92,7 @@ void LinearHallSensor::init(BLDCMotor motor)
Serial.println("Max sensor: " + String(_maxSensor)); Serial.println("Max sensor: " + String(_maxSensor));
// Recovering previous controller type and go in the middle // Recovering previous controller type and go in the middle
for (float i = _maxPositionEndValue; i >= _minPositionEndValue/2.0; i = i - 0.01) for (float i = _maxPositionEndValue; i >= _minPositionEndValue / 2.0; i = i - 0.01)
{ {
motor.move(i); motor.move(i);
delay(1); delay(1);
@ -124,5 +126,5 @@ float LinearHallSensor::readSensorCallback()
_estimatePosition += dist_angle(_currentPosition, _prevPosition); _estimatePosition += dist_angle(_currentPosition, _prevPosition);
_prevPosition = _currentPosition; _prevPosition = _currentPosition;
return (_estimatePosition + _offset)/4.0; return (_estimatePosition + _offset) / 4.0;
} }

1
src/main.cpp
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@ -76,7 +76,6 @@ void setup()
motor.useMonitoring(Serial); motor.useMonitoring(Serial);
// Init sensor // Init sensor
motor.init(); motor.init();
Serial.println("calibrating sensor in open loop..."); Serial.println("calibrating sensor in open loop...");