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Offset for handheld 2
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@ -47,8 +47,9 @@ void MotorTask::run() {
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// it seems to have a bug (or I've misconfigured it) that gets both the offset and direction very wrong!
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// it seems to have a bug (or I've misconfigured it) that gets both the offset and direction very wrong!
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// So this value is based on experimentation.
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// So this value is based on experimentation.
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// TODO: dig into SimpleFOC calibration and find/fix the issue
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// TODO: dig into SimpleFOC calibration and find/fix the issue
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// float zero_electric_offset = -0.6;
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// float zero_electric_offset = -0.6; // original proto
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float zero_electric_offset = 0.4;
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//float zero_electric_offset = 0.4; // handheld 1
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float zero_electric_offset = -0.8; // handheld 2
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bool tlv_invert = true;
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bool tlv_invert = true;
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Direction foc_direction = Direction::CCW;
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Direction foc_direction = Direction::CCW;
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