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romi2002
requested changes
Mar 20, 2024
SteeringVanttec/Core/Src/main.c
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| steering_stepper.config.direction_port = STP1_DIR_GPIO_Port; | ||
| steering_stepper.config.invert = false; | ||
| steering_stepper.config.enable_encoder_correction = true; | ||
| steering_stepper.config.enable_soft_limit = false; |
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Hay que volver a habilitar el soft limit, para que no le podamos mandar un valor demasiado grande (y romper el mecanismo).
Podemos arreglarlo, o simplificarlo y hacer que solo se le aplica al setpoint:
if setpoint > soft_limit: setpoint = soft_limit
romi2002
reviewed
Jun 5, 2024
…branch, changed velocity of stepper, made threshold for brake bigger, timers are now with blue pcb
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