From 7cf81435e209a5bc4109071cf937b44ce394ea50 Mon Sep 17 00:00:00 2001 From: Scott Bezek Date: Fri, 11 Feb 2022 22:00:41 -0800 Subject: [PATCH] Offset for handheld 2 --- firmware/src/motor_task.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/firmware/src/motor_task.cpp b/firmware/src/motor_task.cpp index f72d887..ed257c1 100644 --- a/firmware/src/motor_task.cpp +++ b/firmware/src/motor_task.cpp @@ -47,8 +47,9 @@ void MotorTask::run() { // it seems to have a bug (or I've misconfigured it) that gets both the offset and direction very wrong! // So this value is based on experimentation. // TODO: dig into SimpleFOC calibration and find/fix the issue - // float zero_electric_offset = -0.6; - float zero_electric_offset = 0.4; + // float zero_electric_offset = -0.6; // original proto + //float zero_electric_offset = 0.4; // handheld 1 + float zero_electric_offset = -0.8; // handheld 2 bool tlv_invert = true; Direction foc_direction = Direction::CCW;