fix(stacker): motor movement profile step detection #499
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
sfoster1
approved these changes
Jan 23, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds a test for the movement profile used in the Flex Stacker and fixes a motion bug.
I found a delay in motion control; when the motor speed is set to take exactly one step each time the motor timer ticks, the first tick wouldn't cause a step. It's because the bitwise comparison doesn't work very well while we're at the step boundary.
By setting the step flag to
(static_cast<uint64_t>(1) << radix) - 1;, we can make sure we're taking a step right when it happens.The longer I look at this math, the more confused I get. So apologies in advance if none of this makes sense.