d9888ef369
* Improved homing (parallel homing support, better repeatability, better geometric reference point) * Improved joint calibration procedure * Calibration data can now be stored persistently on the flash memory (no repeated calibration required) * Improved logging * added PythonAPI to control device easily New G-Code commands: * Enable/Disable motors command, including pose recovery from current position on motor enable * Dedicated joint calibration command with save to flash option * Set pose command to directly set a target pose for the servo loops, bypassing the motion controller (good for real-time control)
22 lines
780 B
C
22 lines
780 B
C
// --------------------------------------------------------------------------------------
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// Project: MicroManipulatorStepper
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// License: MIT (see LICENSE file for full description)
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// All text in here must be included in any redistribution.
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// Author: M. S. (diffraction limited)
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// --------------------------------------------------------------------------------------
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#pragma once
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#include "servo_controller.h"
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#include "utilities/lookup_table.h"
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//*** FUNCTIONS *************************************************************************
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bool measure_calibration_data(
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LookupTable& encoder_raw_to_motor_pos_lut,
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LookupTable& motor_pos_to_field_angle_lut,
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ServoController& servo_controller,
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float field_angle_range,
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float field_velocity,
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size_t size);
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