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fixed sine output

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This commit is contained in:
Andreas Antener
2016-06-20 20:24:46 +02:00
parent 7f56961e26
commit 4e0980aeb9
1 changed files with 5 additions and 2 deletions
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src/systemcmds/motor_ramp/motor_ramp.cpp
+5 -2
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@@ -148,6 +148,9 @@ int motor_ramp_main(int argc, char *argv[])
if (strcmp(argv[3], "-s") == 0) { if (strcmp(argv[3], "-s") == 0) {
_sine_output = true; _sine_output = true;
} }
} else {
_sine_output = false;
} }
if (!(_ramp_time > 0)) { if (!(_ramp_time > 0)) {
@@ -311,10 +314,10 @@ int motor_ramp_thread_main(int argc, char *argv[])
} else { } else {
// sine outpout with period T = _ramp_time and magnitude between [0,1] // sine outpout with period T = _ramp_time and magnitude between [0,1]
// phase shift makes sure that it starts at zero when timer is zero // phase shift makes sure that it starts at zero when timer is zero
output = 0.5f * (1.0f + sinf(M_TWOPI_F * timer / (_ramp_time * 1e6f) - M_PI_2_F)); output = 0.5f * (1.0f + sinf(M_TWOPI_F * timer / _ramp_time - M_PI_2_F));
} }
if ((output > 1.0f && !_sine_output) || (timer > 3.0f * _ramp_time * 1e6f && _sine_output)) { if ((output > 1.0f && !_sine_output) || (timer > 3.0f * _ramp_time && _sine_output)) {
// for ramp mode we set output to 1, for sine mode we just leave it as is // for ramp mode we set output to 1, for sine mode we just leave it as is
output = _sine_output ? output : 1.0f; output = _sine_output ? output : 1.0f;
start = hrt_absolute_time(); start = hrt_absolute_time();