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Take average of encoder origin for one mechanical revolution #70

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Merged
merged 6 commits into from
Sep 4, 2019
Merged

Take average of encoder origin for one mechanical revolution #70

merged 6 commits into from
Sep 4, 2019

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at-wat
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@at-wat at-wat commented Sep 2, 2019

fix #66

@at-wat at-wat self-assigned this Sep 2, 2019
at-wat
at-wat commented Sep 2, 2019
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tfrog-motordriver/controlPWM.c Outdated
{
if (motor[i].enc0_buf[j] != ENC0_BUF_UNKNOWN)
{
sum_enc0 += motor[i].enc0_buf[j];
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must be angular average

@at-wat
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at-wat commented Sep 3, 2019 •
edited
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[origin calculated from each edge]: average origin
 ... ... ... ... -274 ...: 126
 ... ... ... ... -274 -269: 129
 125 ... ... ... -274 -269: 127
 125 ... ... 132 -274 -269: 129
 125 ... 125 132 -274 -269: 127
 125 ... 125 132 -274 -269: 128
 125 ... 125 132 -274 -269: 127
 125 ... 125 132 -274 -269: 128
 125 ... 125 132 -274 -269: 127
 125 ... 125 132 -274 -269: 127
 125 ... 125 132 -274 -269: 128
 125 ... 125 132 -274 -269: 127
 125 ... 125 132 -274 -269: 128
 125 ... 125 132 -274 -269: 127
 125 132 125 132 -274 -269: 129
 125 132 125 132 -274 -269: 128
 125 132 125 132 -274 -269: 129
 125 132 125 132 -274 -269: 128
 125 132 125 132 -274 -269: 129
 125 132 125 132 -274 -269: 128
 125 132 125 132 -274 -269: 129
 125 132 125 132 -274 -269: 128
 125 132 125 132 -274 -269: 129

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at-wat commented Sep 3, 2019

ENCODER_DENOMINATOR=2

[origin calculated from each edge]: average origin
 ... -84 ... ... ... ... ... ... ... ... ... ...: 316
 ... -84 -92 ... ... ... ... ... ... ... ... ...: 312
 ... -84 -92 -85 ... ... ... ... ... ... ... ...: 313
 ... -84 -92 -85 -90 ... ... ... ... ... ... ...: 312
 ... -84 -92 -85 -90 -85 ... ... ... ... ... ...: 313
 309 -84 -92 -85 -90 -85 ... ... ... ... ... ...: 312
 309 -84 -92 -85 -90 -85 ... 316 ... ... ... ...: 313
 309 -84 -92 -85 -90 -85 ... 316 309 ... ... ...: 312
 309 -84 -92 -85 -90 -85 ... 316 309 316 ... ...: 313
 309 -84 -92 -85 -90 -85 ... 316 309 316 310 ...: 312
 309 -84 -92 -85 -90 -85 ... 316 309 316 310 315: 313
 309 -84 -92 -85 -90 -85 709 316 309 316 310 315: 312
 309 -84 -92 -84 -90 -85 709 316 309 316 310 315: 313
 309 -84 -92 -84 -90 -85 709 316 309 316 310 315: 312
 309 -84 -92 -84 -90 -85 709 316 309 316 310 315: 313
 309 -84 -92 -84 -90 -85 709 316 309 316 310 315: 312
 309 -84 -92 -84 -90 -85 709 316 309 316 310 315: 313
 309 -84 -92 -84 -90 -85 709 316 309 316 310 316: 313
 309 -84 -92 -84 -90 -85 709 316 309 316 310 316: 312
 309 -84 -92 -84 -90 -85 709 316 309 316 310 316: 313
 309 -84 -92 -84 -90 -85 709 316 309 316 310 316: 312
 309 -84 -92 -84 -90 -85 709 316 309 316 310 316: 313
 309 -84 -92 -84 -90 -85 709 316 309 316 310 316: 312

@at-wat at-wat changed the title [WIP] Take average of encoder origin for one mechanical revolution Take average of encoder origin for one mechanical revolution Sep 3, 2019
@at-wat at-wat merged commit 3abb771 into master Sep 4, 2019
@at-wat at-wat deleted the take-average-of-abs-angle-detection branch September 4, 2019 05:52
@at-wat at-wat mentioned this pull request Sep 6, 2019
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Take an average of hall signal absolute angle in one mechanical revolution
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