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don't print the wrong number (#3158) 

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2021-08-14 23:10:28 -07:00 committed by GitHub
parent bcd54a7cd9
commit 68e2b93dff
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 8 deletions
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16
firmware/controllers/actuators/electronic_throttle.cpp
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@ -643,8 +643,8 @@ struct EtbImpl final : public EtbController {
motor->set(0.5f); motor->set(0.5f);
motor->enable(); motor->enable();
chThdSleepMilliseconds(1000); chThdSleepMilliseconds(1000);
float primaryMax = Sensor::getRaw(functionToTpsSensorPrimary(myFunction)) * TPS_TS_CONVERSION; float primaryMax = Sensor::getRaw(functionToTpsSensorPrimary(myFunction));
float secondaryMax = Sensor::getRaw(functionToTpsSensorSecondary(myFunction)) * TPS_TS_CONVERSION; float secondaryMax = Sensor::getRaw(functionToTpsSensorSecondary(myFunction));
// Let it return // Let it return
motor->set(0); motor->set(0);
@ -653,8 +653,8 @@ struct EtbImpl final : public EtbController {
// Now grab closed // Now grab closed
motor->set(-0.5f); motor->set(-0.5f);
chThdSleepMilliseconds(1000); chThdSleepMilliseconds(1000);
float primaryMin = Sensor::getRaw(functionToTpsSensorPrimary(myFunction)) * TPS_TS_CONVERSION; float primaryMin = Sensor::getRaw(functionToTpsSensorPrimary(myFunction));
float secondaryMin = Sensor::getRaw(functionToTpsSensorSecondary(myFunction)) * TPS_TS_CONVERSION; float secondaryMin = Sensor::getRaw(functionToTpsSensorSecondary(myFunction));
// Finally disable and reset state // Finally disable and reset state
motor->disable(); motor->disable();
@ -668,17 +668,17 @@ struct EtbImpl final : public EtbController {
// Write out the learned values to TS, waiting briefly after setting each to let TS grab it // Write out the learned values to TS, waiting briefly after setting each to let TS grab it
tsOutputChannels.calibrationMode = functionToCalModePriMax(myFunction); tsOutputChannels.calibrationMode = functionToCalModePriMax(myFunction);
tsOutputChannels.calibrationValue = primaryMax; tsOutputChannels.calibrationValue = primaryMax * TPS_TS_CONVERSION;
chThdSleepMilliseconds(500); chThdSleepMilliseconds(500);
tsOutputChannels.calibrationMode = functionToCalModePriMin(myFunction); tsOutputChannels.calibrationMode = functionToCalModePriMin(myFunction);
tsOutputChannels.calibrationValue = primaryMin; tsOutputChannels.calibrationValue = primaryMin * TPS_TS_CONVERSION;
chThdSleepMilliseconds(500); chThdSleepMilliseconds(500);
tsOutputChannels.calibrationMode = functionToCalModeSecMax(myFunction); tsOutputChannels.calibrationMode = functionToCalModeSecMax(myFunction);
tsOutputChannels.calibrationValue = secondaryMax; tsOutputChannels.calibrationValue = secondaryMax * TPS_TS_CONVERSION;
chThdSleepMilliseconds(500); chThdSleepMilliseconds(500);
tsOutputChannels.calibrationMode = functionToCalModeSecMin(myFunction); tsOutputChannels.calibrationMode = functionToCalModeSecMin(myFunction);
tsOutputChannels.calibrationValue = secondaryMin; tsOutputChannels.calibrationValue = secondaryMin * TPS_TS_CONVERSION;
chThdSleepMilliseconds(500); chThdSleepMilliseconds(500);
tsOutputChannels.calibrationMode = TsCalMode::None; tsOutputChannels.calibrationMode = TsCalMode::None;