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Fix Motor jump at startup / always on - all modes tested

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While testing the new commits on actual hardware noticed
the motors always beeing on at full power.

-> This was due to uninitialized value. It had to fade down from
duty 81236182734612738 which takes forever.

-> This also fixes the old issue where left motor jumped for a
second after startup

Also tested JOYSTICK, HTTP, ADJUST_CHAIR modes and encoder+menu
This commit is contained in:
jonny_l480 2024-02-20 09:41:34 +01:00
parent 8de4dbbe27
commit b7288b442e
1 changed files with 3 additions and 3 deletions
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6
common/motorctl.hpp
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@ -64,8 +64,8 @@ class controlledMotor {
float currentMax; float currentMax;
float currentNow; float currentNow;
float dutyTarget; float dutyTarget = 0;
float dutyNow; float dutyNow = 0;
float dutyIncrementAccel; float dutyIncrementAccel;
float dutyIncrementDecel; float dutyIncrementDecel;
float dutyDelta; float dutyDelta;
@ -74,7 +74,7 @@ class controlledMotor {
uint32_t msFadeDecel; uint32_t msFadeDecel;
uint32_t ramp; uint32_t ramp;
int64_t timestampLastRunUs; int64_t timestampLastRunUs = 0;
bool deadTimeWaiting = false; bool deadTimeWaiting = false;
uint32_t timestampsModeLastActive[4] = {}; uint32_t timestampsModeLastActive[4] = {};