Diff: Calibration/Calibration.cpp

Revision:

232:47f6cf4f9126

Parent:

196:7172e6e28867

Child:

239:09cd19ce7048

--- a/Calibration/Calibration.cpp	Sat Nov 10 06:50:53 2018 +0000
+++ b/Calibration/Calibration.cpp	Sat Nov 10 08:37:08 2018 +0000
@@ -9,6 +9,8 @@
 #include "derived.h"
 #include "prefs.h"
 
+#include "errors.h"
+
 //output is in modulation depth
 void abc(float theta, float vd, float vq, float *a, float *b, float *c) {
     float valpha, vbeta;
@@ -29,7 +31,12 @@
 }
 
 void calibrate_position(IOStruct *io) {
-    io->pc->printf("%s\n", "Starting calibration procedure");
+    if (!checks_passed()) {
+        io->pc->printf("%s\n", "Errors present, exiting");
+        return;
+    }
+    io->pc->putc(127);
+    io->pc->printf("%s\n", "Calibrating...");
     
     const int n = (int) (128);
     const int n2 = 10;
@@ -74,7 +81,6 @@
         //compensate for position rollover
         if (theta_actual - theta_last < -PI) rollover += 2 * PI;
         if (theta_actual - theta_last > PI) rollover -= 2 * PI;
-        io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref);
         
         theta_last = theta_actual;
         
@@ -96,7 +102,6 @@
         
         if (theta_actual - theta_last < -PI) rollover += 2 * PI;
         if (theta_actual - theta_last > PI) rollover -= 2 * PI;
-        io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref);
         
         theta_last = theta_actual;
         
@@ -108,5 +113,8 @@
         offset += (error_f[i] + error_b[n - 1 - i]) / (2.0f * n);
     }
     offset = fmodf(offset, 2 * PI);
-    io->pc->printf("Offset: %f\n", offset);
+    io->pc->printf("Done!\n");
+    io->pc->printf("Offset = %f\n", -offset);
+    io->pc->printf("Use 'flush' to save this value to flash\n");
+    _POS_OFFSET = -offset;
 }
\ No newline at end of file