From 1505a4a24bd438662da6847ff874252daf018fca Mon Sep 17 00:00:00 2001
From: Max <Hunt>
Date: Fri, 23 Apr 2021 20:06:49 +0100
Subject: [PATCH] Update

---
 odrive_setup.py   | 35 ++++++++++++++++++++++++++++++++++-
 pygame_control.py |  6 ++++--
 2 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/odrive_setup.py b/odrive_setup.py
index fa2bd94..ceea9bc 100644
--- a/odrive_setup.py
+++ b/odrive_setup.py
@@ -48,7 +48,7 @@ logging.warning(f"Axis 1 encoder bandwidth: {odrv0.axis1.encoder.bandwidth}")
 
 def controller_setup(odrv0: object, pos_gain: int = 1, vel_limit: int = 0.5):  # Low vel limit (1 turn every 2s to avoid crsahing lol)
     # https://docs.oodrv0robotics.com/control
-    odrv0.axis0.controller.config.pos_gain = pos_gain
+    odrv0.axis0.controller.config.pos_gain = pos_gain # 20
     odrv0.axis1.controller.config.pos_gain = pos_gain
     logging.warning(f'Set positional gain to {pos_gain}')
     ### NOTE: The VEL gain determines how fast the motor will move from point A to point B, may need to up/ tweak the value
@@ -182,3 +182,36 @@ odrv0.axis1.controller.input_pos = 0
 
 odrv0.axis0.encoder.set_linear_count(0)
 odrv0.axis1.encoder.set_linear_count(0)
+
+
+# defaults:
+# gain_scheduling_width = 10.0 (float)
+# enable_vel_limit = True (bool)
+# enable_current_mode_vel_limit = True (bool)
+# enable_gain_scheduling = False (bool)
+# enable_overspeed_error = True (bool)
+# control_mode = 3 (int)
+# input_mode = 1 (int)
+# pos_gain = 50.0 (float)
+# vel_gain = 0.1666666716337204 (float)
+# vel_integrator_gain = 0.3333333432674408 (float)
+# vel_limit = 100.0 (float)
+# vel_limit_tolerance = 2.0 (float)
+# vel_ramp_rate = 1.0 (float)
+# torque_ramp_rate = 0.009999999776482582 (float)
+# circular_setpoints = False (bool)
+# circular_setpoint_range = 1.0 (float)
+# homing_speed = 0.25 (float)
+# inertia = 0.0 (float)
+# axis_to_mirror = 255 (int)
+# mirror_ratio = 1.0 (float)
+# load_encoder_axis = 0 (int)
+# input_filter_bandwidth = 2.0 (float)
+# anticogging:
+#   index = 0 (int)
+#   pre_calibrated = False (bool)
+#   calib_anticogging = False (bool)
+#   calib_pos_threshold = 1.0 (float)
+#   calib_vel_threshold = 1.0 (float)
+#   cogging_ratio = 1.0 (float)
+#   anticogging_enabled = True (bool)
diff --git a/pygame_control.py b/pygame_control.py
index c97d6d3..94b96a5 100644
--- a/pygame_control.py
+++ b/pygame_control.py
@@ -51,6 +51,8 @@ class Controller:
         self.a0_t = 0
         self.a1_t = 0
         self.v_max = self.drive.get_max_speed()
+        self.y_multiplier = 1.1
+        # self.y_multiplier = 0.7
 
     def calculate_angles(self, large_x, large_y):
         x = large_x / 10.0
@@ -92,7 +94,7 @@ class Controller:
             idkwhatthisis = self.font.render(f"X: {mouse_x} | Y: {500 - mouse_y}", True, (255, 255, 255))
             idkwhatthisis_3 = self.font.render(f"X: {mouse_x/100} | Y: {(500 - mouse_y)/100}", True, (255, 255, 255))
             idkwhatthisis_4 = self.font.render(f"M0: {self.a0:.3f} | M1: {self.a1:.3f}", True, (255, 255, 255))
-            self.a0_t, self.a1_t = self.calculate_angles(mouse_y*1.1, 990 - mouse_x)
+            self.a0_t, self.a1_t = self.calculate_angles(mouse_y*self.y_multiplier, 990 - mouse_x*2)
             idkwhatthisis_5 = self.font.render(f"M0: {self.a0_t:.3f} | M1: {self.a1_t:.3f}", True, (0, 255, 255))
             idkwhatthisis_6 = self.font.render(f"VMAX: {self.v_max}", True, (255, 100, 0))
             self.window.blit(idkwhatthisis, (0, 0))
@@ -104,7 +106,7 @@ class Controller:
             pygame.display.update()
 
             if self.armed:
-                self.a0, self.a1 = self.calculate_angles(mouse_y*1.1, 990 - mouse_x*2)
+                self.a0, self.a1 = self.calculate_angles(mouse_y*self.y_multiplier, 990 - mouse_x*2)
                 self.drive.goto(self.a0, self.a1)
 
         self.drive.set_idle()