diff --git a/Documentation/MT_2023_Diplome_Archier-Affiche.pdf b/Documentation/MT_2023_Diplome_Archier-Affiche.pdf new file mode 100755 index 0000000000000000000000000000000000000000..c00ba88c571c66b0ba7e9569c1ee2ad0ad93cef4 Binary files /dev/null and b/Documentation/MT_2023_Diplome_Archier-Affiche.pdf differ diff --git a/Documentation/MT_2023_Diplome_Archier-Affiche.pptx b/Documentation/MT_2023_Diplome_Archier-Affiche.pptx new file mode 100755 index 0000000000000000000000000000000000000000..1407d64de6de015b6ec832f92b82549a53d5ffa7 Binary files /dev/null and b/Documentation/MT_2023_Diplome_Archier-Affiche.pptx differ diff --git a/Documentation/Mesure_et_Trames.xlsx b/Documentation/Mesure_et_Trames.xlsx new file mode 100644 index 0000000000000000000000000000000000000000..0122020594e1f8070bad307e4bf7855323ad06c8 Binary files /dev/null and b/Documentation/Mesure_et_Trames.xlsx differ diff --git a/Documentation/SchemaHapticControl.pptx b/Documentation/SchemaHapticControl.pptx index 8923a17652868476f05cb251100ab8d7fd1d6ad9..fcc295ed052760b1cdf58bdd0ad124191a014d54 100644 Binary files a/Documentation/SchemaHapticControl.pptx and b/Documentation/SchemaHapticControl.pptx differ diff --git "a/Documentation/Sch\303\251ma_organigramme.pptx" "b/Documentation/Sch\303\251ma_organigramme.pptx" index 52e9e4f3e55b6c4984a4e555827be42a53bbc552..fd3357141a5205fcecc5b18f5d8fb9fe08734d70 100644 Binary files "a/Documentation/Sch\303\251ma_organigramme.pptx" and "b/Documentation/Sch\303\251ma_organigramme.pptx" differ diff --git a/Documentation/TramesComm.xlsx b/Documentation/TramesComm.xlsx deleted file mode 100644 index 439b7d1a1932a6716e746063b274c73bc801ce99..0000000000000000000000000000000000000000 Binary files a/Documentation/TramesComm.xlsx and /dev/null differ diff --git a/HapticControl_Frimware/src/motor_task.cpp b/HapticControl_Frimware/src/motor_task.cpp index c1dd1f7a66b5751d4a344835bb8f5f6c8e0e77b1..70803ca6c437db8d5ea8ed0a55f4b987be683d43 100644 --- a/HapticControl_Frimware/src/motor_task.cpp +++ b/HapticControl_Frimware/src/motor_task.cpp @@ -91,7 +91,7 @@ void MotorTask::Run() { while (1) { motor.loopFOC(); - +/* idle_check_velocity_ewma = motor.shaft_velocity * IDLE_VELOCITY_EWMA_ALPHA + idle_check_velocity_ewma * (1 - IDLE_VELOCITY_EWMA_ALPHA); if (fabsf(idle_check_velocity_ewma) > IDLE_VELOCITY_RAD_PER_SEC) { @@ -114,8 +114,9 @@ void MotorTask::Run() { Serial.print(current_detent_center); Serial.print(" -> "); Serial.println(motor.shaft_angle); - }*/ + } } +*/ float snap_point_radians = config.position_width_radians * config.snap_point; float angle_to_detent_center = motor.shaft_angle - current_detent_center; @@ -142,7 +143,7 @@ void MotorTask::Run() { motor.PID_velocity.P = out_of_bounds ? config.endstop_strength_unit * 20 : config.detent_strength_unit * DEFAUL_P_VALUE; // Allow a better feeling more magnetic - angle_to_detent_center = out_of_bounds ? angle_to_detent_center *-1 : angle_to_detent_center; + //angle_to_detent_center = out_of_bounds ? angle_to_detent_center *-1 : angle_to_detent_center; if (fabsf(motor.shaft_velocity) > 20) { diff --git a/MT_2023_Diplome_Archier_Presentation.pptx b/MT_2023_Diplome_Archier_Presentation.pptx new file mode 100644 index 0000000000000000000000000000000000000000..93dab1b064aa1a9fb01fd18ceb7203cd5e59c26c Binary files /dev/null and b/MT_2023_Diplome_Archier_Presentation.pptx differ