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jcchurch13 / Mechaduino-Firmware

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http://tropical-labs.com
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Hold current position when closed loop is engaged. #32

Closed osresearch closed 6 years ago

osresearch commented 6 years ago

This also correctly computes the current angle using the lookup table, rather than having an approximation of the encoder value.

osresearch commented 6 years ago

I realized belatedly that this should probably use the wrapped y position; if the motor has been turned more than 360 degrees when closed loop is enabled it will unwind to the single-turn position.

I'm working on a patch that has the timer interrupt running constantly so that the yw value is always valid. This will prevent this unexpected behaviour.