From e83dfb3516775421bbd305be3024ae6b8d03617e Mon Sep 17 00:00:00 2001
From: Thomas Lambert <t.lambert@uliege.be>
Date: Tue, 22 Nov 2022 11:34:30 +0100
Subject: [PATCH] fix(calib): error in maxWingPos
---
controller/calibration.ino | 21 +++++++++------------
1 file changed, 9 insertions(+), 12 deletions(-)
diff --git a/controller/calibration.ino b/controller/calibration.ino
index 4b6167a..e704fae 100644
--- a/controller/calibration.ino
+++ b/controller/calibration.ino
@@ -17,6 +17,7 @@
void Calibrate() {
String input;
+ uint32_t calibTime = 6000; // Calibration time in ms
Serial.println("[INPUT]: Calibrate angles? (Y/n)");
@@ -28,7 +29,9 @@ void Calibrate() {
} else {
- Serial.println("[WARNING]: Setup will run for 8s to get the offset and maximum value.");
+ Serial.print("[WARNING]: Setup will run for ");
+ Serial.print(calibTime / 1000);
+ Serial.print("s to get the offset and maximum value.");
Serial.println("[INPUT]: Type 'Y' to begin.");
while (Serial.available() == 0) {} // Wait for serial input
@@ -39,8 +42,8 @@ void Calibrate() {
gEsc1.write(40);
gEsc2.write(40);
- GetAngleOffset();
- GetMaxWingPos();
+ GetAngleOffset(calibTime / 2);
+ GetMaxWingPos(calibTime / 2);
// Stop ESC
gEsc1.write(0);
@@ -64,9 +67,7 @@ void Calibrate() {
}
// Determine if wing position needs to be offset to prevent wrap-around
-void GetAngleOffset() {
-
- uint16_t calibTime = 4000;
+void GetAngleOffset(uint32_t calibTime) {
unsigned int maxPos[4];
unsigned int minPos[4];
@@ -99,12 +100,8 @@ void GetAngleOffset() {
}
-unsigned int GetMaxWingPos() {
-
- uint16_t calibTime = 4000;
+unsigned int GetMaxWingPos(uint32_t calibTime) {
- unsigned int maxPos[4];
- unsigned int minPos[4];
unsigned int newPos;
for (uint32_t tStart = millis(); (millis() - tStart) < calibTime;) {
@@ -112,7 +109,7 @@ unsigned int GetMaxWingPos() {
// Find max and min wing position
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
newPos = ReadSensor(gCSN_PINS[i], gENC_ORIENT[i], gAngleOffset[i]);
- if (newPos > maxPos[i]) {
+ if (newPos > gMaxWingPos[i]) {
gMaxWingPos[i] = newPos;
}
}
--
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