Revert "abdrive360/servo360 - try EEPROM calibration / transfer funct…

…ion adjusting functions #151" This reverts commit cf415cb.
parallaxinc · Oct 10, 2017 · 40eafb5 · 40eafb5
1 parent 1125a3f
commit 40eafb5
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Showing 14 changed files with 24 additions and 2,309 deletions.
diff --git a/Learn/Simple Libraries/Motor/libservo360/libservo360.side b/Learn/Simple Libraries/Motor/libservo360/libservo360.side
@@ -43,7 +43,6 @@ servo360_couple.c
 servo360_setCoupleScale.c
 servo360_setAngleOffset.c
 servo360_getAngleOffset.c
-servo360_setTransferFunction.c
 >compiler=C
 >memtype=cmm main ram compact
 >optimize=-Os

diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360.c b/Learn/Simple Libraries/Motor/libservo360/servo360.c
@@ -79,10 +79,10 @@ void servo360_mainLoop()
     {
       if(_fs[p].pinCtrl != -1 && _fs[p].pinFb != -1)
       {
-        //if(_fs[p].feedback)
-        //{
+        if(_fs[p].feedback)
+        {
           servo360_checkAngle(p);
-        //}          
+        }          
       }        
     }
 
@@ -258,7 +258,7 @@ void servo360_outputSelector(int p)
   if(_fs[p].csop == S360_POSITION)
   {
     int output = servo360_pidA(p);
-    _fs[p].pw = servo360_upsToPulseFromTransferFunction(output, p);
+    _fs[p].pw = servo360_upsToPulseFromTransferFunction(output);
     _fs[p].speedOut = _fs[p].pw - 15000;
   }
   else if(_fs[p].csop == S360_SPEED)
@@ -552,20 +552,17 @@ int servo360_upsToPulseFromTransferFunction(int unitsPerSec)
 }
 */
 
-int servo360_upsToPulseFromTransferFunction(int unitsPerSec, int p)
+int servo360_upsToPulseFromTransferFunction(int unitsPerSec)
 {
-  int y, m, x, b;
-  x = unitsPerSec; 
+  int y, x = unitsPerSec, m = S360_VM, b;
 
   if(x > 0)
   {
-    m = _fs[p].vmCcw;
-    b = _fs[p].vbCcw;
+    b = S360_VB_POS;
   }    
   else if(x < 0)
   {
-    m = _fs[p].vmCw;
-    b = _fs[p].vbCw;
+    b = S360_VB_NEG;
   }
   else
   {
@@ -622,7 +619,7 @@ void servo360_speedControl(int p)
         //speedUpdateFlag = 0;
       }
     }      
-    _fs[p].pw = servo360_upsToPulseFromTransferFunction(_fs[p].speedTarget, p);
+    _fs[p].pw = servo360_upsToPulseFromTransferFunction(_fs[p].speedTarget);
     _fs[p].drive = _fs[p].pw - 15000;
     _fs[p].opPidV = _fs[p].drive + servo360_pidV(p);
   }

diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360.h b/Learn/Simple Libraries/Motor/libservo360/servo360.h
@@ -12,11 +12,13 @@
 
 
 
+
 //#define _servo360_monitor_
 
 
 
 
+
 #ifndef SERVO360_H
 #define SERVO360_H
 
@@ -35,16 +37,9 @@ extern "C" {
 #define S360_UNITS_FULL_CIRCLE 360
 #define S360_MAX_SPEED 2 * 4096 
 
+#define S360_VB_POS 200
+#define S360_VB_NEG -200
 #define S360_VM 180
-//#define S360_VB_POS 200
-//#define S360_VB_NEG -200
-#define S360_VM_CCW S360_VM
-#define S360_VM_CW S360_VM
-
-#define S360_VM_CCW S360_VM
-#define S360_VM_CW S360_VM
-#define S360_VB_CCW 200
-#define S360_VB_CW -200
 
 #define S360_DUTY_CYCLE_MIN 290
 #define S360_DUTY_CYCLE_MAX 9710
@@ -108,10 +103,6 @@ extern "C" {
 #define S360_SETTING_KIA 6
 #define S360_SETTING_KDA 7
 #define S360_SETTING_IA_MAX 8
-#define S360_SETTING_VB_CCW 9
-#define S360_SETTING_VB_CW 10
-#define S360_SETTING_VM_CCW 11    
-#define S360_SETTING_VM_CW 12
 
 //#define S360_A_MAX (((1 << 31) - 1)) / S360_UNITS_FULL_CIRCLE  // 524287 degrees
 #define S360_A_MAX 524287  
@@ -197,7 +188,7 @@ void servo360_setPositiveDirection(int p, int direction);
 
 int servo360_setRampStep(int p, int stepSize);
 
-int servo360_upsToPulseFromTransferFunction(int unitsPerSec, int p);
+int servo360_upsToPulseFromTransferFunction(int unitsPerSec);
 void servo360_pulseControl(int p, int speedUps);
 
 void servo360_speedControl(int p);
@@ -215,9 +206,6 @@ int servo360_setMaxSpeedEncoded(int pin, int speed);
 void servo360_monitorRun(void);
 void servo360_monitorEnd(void);
 
-int servo360_setTransferFunction(int pin, int constant, int value);
-
-
 /*
 __attribute__((constructor))
 void servo360_patch(void);
@@ -267,11 +255,6 @@ typedef volatile struct servo360_s
   volatile int coupleScale;
   volatile int enable;
 
-  volatile int vmCcw;
-  volatile int vmCw;
-  volatile int vbCcw;    
-  volatile int vbCw;
-
   // admin
   volatile int csop;
   volatile int speedReq;

diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c b/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c
@@ -100,11 +100,6 @@ int servo360_connect(int pinControl, int pinFeedback)
   _fs[p].enable = 1;
 
   _fb360c.devCount++;
-
-  _fs[p].vmCcw = S360_VM_CCW;
-  _fs[p].vmCw = S360_VM_CW;
-  _fs[p].vbCcw = S360_VB_CCW;    
-  _fs[p].vbCw = S360_VB_CW;
 
   lockclr(_fb360c.lock360);  
 

diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360_setTransferFunction.c b/Learn/Simple Libraries/Motor/libservo360/servo360_setTransferFunction.c