Diff: Calibration/calibration.cpp

Revision:

58:32e8927fe39f

Parent:

55:c4c9fec8539c

Child:

63:10604c39666f

--- a/Calibration/calibration.cpp	Thu Nov 07 18:14:51 2019 +0000
+++ b/Calibration/calibration.cpp	Tue Feb 04 14:19:58 2020 +0000
@@ -217,20 +217,25 @@
             }
         int raw_offset = (raw_f[0] + raw_b[n-1])/2;                             //Insensitive to errors in this direction, so 2 points is plenty
         
+        printf("Raw offset: %d \n\r", raw_offset);
         
         printf("\n\r Encoder non-linearity compensation table\n\r");
         printf(" Sample Number : Lookup Index : Lookup Value\n\r\n\r");
-        for (int i = 0; i<n_lut; i++){                                          // build lookup table
-            int ind = (raw_offset>>7) + i;
+        for (int i = 0; i<n_lut; i++){      
+                                             // build lookup table
+            int ind = (raw_offset>>12) + i;  // shifted by lut_shift to ensure index is from 0 to 128
+                        
             if(ind > (n_lut-1)){ 
                 ind -= n_lut;
                 }
             lut[ind] = (int) ((error_filt[i*NPP] - mean)*(float)(ps->GetCPR())/(2.0f*PI));
+            //int temp = (int) ((error_filt[i*NPP] - mean)*(float)(ps->GetCPR())/(2.0f*PI));
             printf("%d   %d   %d \n\r", i, ind, lut[ind]);
             wait(.001);
             }
             
         ps->WriteLUT(lut);                                                      // write lookup table to position sensor object
+        
         //memcpy(controller->cogging, cogging_current, sizeof(controller->cogging));  //compensation doesn't actually work yet....
         
         memcpy(&ENCODER_LUT, lut, 128*4);                                 // copy the lookup table to the flash array