Rename HandleInterrupt to CurrentInterrupt
This is in preparation for adding a fixed cycle version
Change-Id: I20bac62558b9aa74514108e4520ba0f5497c14e4
diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index 9f292d1..acbfb29 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -237,14 +237,17 @@
->absolute_encoder(encoder);
const float angle = absolute_encoder / static_cast<float>((15320 - 1488) / 2);
- global_wheel_angle.store(angle);
- float goal_current = -global_wheel_current.load(::std::memory_order_relaxed) +
+ float goal_current = global_wheel_current.load(::std::memory_order_relaxed) +
kWheelCoggingTorque[encoder];
+ //float goal_current = kWheelCoggingTorque[encoder];
+ //float goal_current = 0.0f;
global_motor1.load(::std::memory_order_relaxed)->SetGoalCurrent(goal_current);
global_motor1.load(::std::memory_order_relaxed)
- ->HandleInterrupt(BalanceSimpleReadings(readings.currents), encoder);
+ ->CurrentInterrupt(BalanceSimpleReadings(readings.currents), encoder);
+
+ global_wheel_angle.store(angle);
}
constexpr float kTriggerMaxExtension = -0.70f;
@@ -281,20 +284,24 @@
DisableInterrupts disable_interrupts;
readings = AdcReadSmall0(disable_interrupts);
}
- uint32_t encoder =
- global_motor0.load(::std::memory_order_relaxed)->wrapped_encoder();
- int32_t absolute_encoder = global_motor0.load(::std::memory_order_relaxed)
- ->absolute_encoder(encoder);
- float trigger_angle = absolute_encoder / 1370.f;
+ const uint32_t encoder =
+ global_motor0.load(::std::memory_order_relaxed)->wrapped_encoder();
+ const int32_t absolute_encoder =
+ global_motor0.load(::std::memory_order_relaxed)
+ ->absolute_encoder(encoder);
+
+ const float trigger_angle = absolute_encoder / 1370.f;
const float goal_current =
- -global_trigger_torque.load(::std::memory_order_relaxed) +
+ global_trigger_torque.load(::std::memory_order_relaxed) +
kTriggerCoggingTorque[encoder];
+ //const float goal_current = kTriggerCoggingTorque[encoder];
+ //const float goal_current = 0.0f;
global_motor0.load(::std::memory_order_relaxed)->SetGoalCurrent(goal_current);
global_motor0.load(::std::memory_order_relaxed)
- ->HandleInterrupt(BalanceSimpleReadings(readings.currents), encoder);
+ ->CurrentInterrupt(BalanceSimpleReadings(readings.currents), encoder);
global_trigger_angle.store(trigger_angle);
}