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Firmware Version 1.0.4

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This commit is contained in:
0x23 2026-03-13 09:10:45 +01:00
parent 18313cc6ae
commit e13cbda4cc
26 changed files with 794 additions and 256 deletions
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4
firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.cpp
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@ -36,6 +36,7 @@ TB6612MotorDriver::TB6612MotorDriver(
{
max_pwm = (1 << pwm_resolution) - 1;
set_amplitude(0.0f, false);
field_angle = 0.0f;
}
void init_output_pin(uint8_t pin, bool value) {
@ -113,6 +114,9 @@ float TB6612MotorDriver::get_amplitude() const {
}
void TB6612MotorDriver::rotate_field(float delta_angle, float rad_per_s, const std::function<void()>& on_step) {
if(delta_angle == 0.0f)
return;
float start = field_angle;
float rad_per_µs = (delta_angle >= 0.0f) ? rad_per_s*1e-6f : -rad_per_s*1e-6f;