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some minor tweaks

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This commit is contained in:
Stepan Usatiuk
2019-08-06 11:45:50 +03:00
parent effbfbad2a
commit e3e5b2cc5d
7 changed files with 15 additions and 19 deletions
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17
Firmware/MotorControl/src/main.cpp
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@@ -8,7 +8,6 @@
#include "common/Status.h"
int curRPM = defRPM;
int adjustDelay = 100;
bool needAdjust;
int calculateDelay(float rpm, int stepsPerRevolution) {
@@ -23,20 +22,14 @@ void adjustRPM() {
unsigned int stepsY = eggStepper.getRemainingSteps();
if (stepsX != 0 && stepsY != 0) {
if (stepsX > stepsY) {
float rpm = (float)curRPM * (float)stepsY / (float)stepsX;
eggStepperRPM = rpm;
eggStepperRPM = (float)curRPM * (float)stepsY / (float)stepsX;
} else if (stepsY > stepsX) {
float rpm = (float)curRPM * (float)stepsX / (float)stepsY;
servoStepperRPM = rpm;
servoStepperRPM = (float)curRPM * (float)stepsX / (float)stepsY;
}
}
}
int newEggStepperDelay =
calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
int newServoStepperDelay =
calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
eggStepperDelay = newEggStepperDelay;
servoStepperDelay = newServoStepperDelay;
eggStepperDelay = calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
servoStepperDelay = calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
}
Command command;
@@ -125,7 +118,7 @@ volatile bool armed = false;
/*
We use our own timer for more precise timings
And it ticks only when armed, to ensure
that updateExecution() doesn't skip a single tick
that steppersRoutine() doesn't skip a single tick
*/
ISR(TIMER2_COMPA_vect) {
if (armed) {