got motor running

2025-12-14 18:57:28 +01:00
parent d339f5b297
commit bd906add53
14 changed files with 123 additions and 78 deletions
@@ -37,12 +37,12 @@ public:
    // Will translate hardware-space-angles to virtual-space-angles
    float hardwareAngleToVirtualAngle(float hardwareAngle) const noexcept;

-protected:
    // Calculates a command-space scale compensation factor.
    // The returned value is multiplied with virtual angle so that
    // the motors actual movement matches the intended movement.
    static float calculateScaleCalibration(const float virtualRange, const float hardwareRange);

+protected:
    float gearboxRatio;      // Gearbox ratio
    float scaleCalibration;  // Scale calibration
    float zeroOffset;        // Zero offset calibration