matei/lemon-pepper-stepper
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Changed initial motor setpoint to the current angle, so that motor doesn't make a violent move on startup

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copper280z
2024-01-13 12:58:35 -05:00
parent 8ee5d11fe5
commit 5554a35eea
1 changed files with 5 additions and 2 deletions
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7
firmware/src/main.cpp
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@@ -265,7 +265,10 @@ uint8_t configureFOC(void)
// SERIALPORT.printf("Current Sense init result: %i\n", ret); // SERIALPORT.printf("Current Sense init result: %i\n", ret);
// motor.linkCurrentSense(&currentsense); // motor.linkCurrentSense(&currentsense);
motor.target = 10; sensor.update();
float start_angle = motor.shaftAngle();
motor.target = start_angle;
SIMPLEFOC_DEBUG("Setting Motor target to current position");
motor.zero_electric_angle = NOT_SET; motor.zero_electric_angle = NOT_SET;
motor.sensor_direction = Direction::UNKNOWN; motor.sensor_direction = Direction::UNKNOWN;
@@ -333,4 +336,4 @@ void userButton(void)
jump_to_bootloader(); jump_to_bootloader();
else else
digitalToggle(LED_FAULT); digitalToggle(LED_FAULT);
} }