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fix(open loop): store the signed shaft velocity in angleOpenloop() - #581
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stijncarelsbergh wants to merge 1 commit into
Open
stijncarelsbergh wants to merge 1 commit into
stijncarelsbergh wants to merge 1 commit into
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angleOpenloop() moves in both directions but always stored a positive shaft_velocity, while velocityOpenloop() stores the signed value. Anything using shaft_velocity (monitoring, and the back-EMF term of estimated_current torque control) therefore sees a positive speed while moving backwards.
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fix(open loop): store the signed shaft velocity in angleOpenloop()
angleOpenloop() moves in both directions but always stored a positive
shaft_velocity, while velocityOpenloop() stores the signed value. Anything using
shaft_velocity (monitoring, and the back-EMF term of estimated_current torque
control) therefore sees a positive speed while moving backwards.
Split out of #571 at your request: one fix per PR, against
dev. The branch containsnothing else, so it can be reviewed, amended or dropped on its own.
The CI board matrix runs automatically; I did not run any hardware test, so the behavioural
claims are from reading the code plus the compiler. Happy to adjust the wording, split it
differently or drop it - no attachment to this one.