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Tried to extrapolate when missing position data. Didn't work as expected but I'll keep it.

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Hakan Bastedt
2024-04-12 17:56:26 +02:00
parent b1cc8f1717
commit a4ca1f641a
3 changed files with 39 additions and 20 deletions
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4
Firmware/include/StepGen3.h
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@@ -92,7 +92,7 @@ public:
volatile uint64_t cnt = 0; // Debug counter
#undef double
StepGen3(void);
void updateStepGen(double pos_cmd1, double pos_cmd2);
void updateStepGen(double pos_cmd1, double pos_cmd2, uint32_t servoPeriod);
void makeAllPulses(void);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
@@ -147,7 +147,7 @@ private:
// For the example
#define BASE_PERIOD 20000
#define SERVO_PERIOD 2000000
//#define SERVO_PERIOD 2000000
#define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL 0.0
#define JOINT_X_SCALE -200