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added measurement print option to calibration

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This commit is contained in:
0x23 2025-10-13 23:45:32 +02:00
parent fc0e75f15c
commit 71e59e20bb
6 changed files with 18 additions and 11 deletions
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6
firmware/MotionControllerRP/src/servo_control/actuator_calibration.cpp
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@ -22,7 +22,8 @@ bool measure_calibration_data(
ServoController& servo_controller,
float calibration_range,
float field_velocity,
size_t table_size)
size_t table_size,
bool print_measurements)
{
LOG_INFO("Measuring motor to encoder angle lookup table...");
int sample_count = table_size*4;
@ -47,6 +48,9 @@ bool measure_calibration_data(
float motor_pos = (field_angle-start_field_angle)/pole_pair_count;
// TODO: read motor_pos from precise reference encoder
if(print_measurements)
LOG_INFO("%f, %15.10f, %15.10f", encoder_angle_raw, field_angle, motor_pos);
encoder_angle_and_motor_pos.push_back({encoder_angle_raw, motor_pos});
motor_pos_and_field_angle.push_back({motor_pos, field_angle});
}

3
firmware/MotionControllerRP/src/servo_control/actuator_calibration.h
View file

@ -18,5 +18,6 @@ bool measure_calibration_data(
ServoController& servo_controller,
float field_angle_range,
float field_velocity,
size_t size);
size_t size,
bool print_measurements);