From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Mon, 20 Jun 2016 10:30:53 +0000 (-0700)
Subject: Removed current ramping
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=3564d04ebc2e53960b7a4f43219acbdc9d29031c;p=bbctrl-firmware

Removed current ramping
---

diff --git a/src/tmc2660.c b/src/tmc2660.c
index dcd0e8a..0badf43 100644
--- a/src/tmc2660.c
+++ b/src/tmc2660.c
@@ -56,8 +56,6 @@ typedef struct {
   uint8_t reg_valid;
   uint32_t regs[REGS];
 
-  float current;
-  float target_current;
   float idle_current;
   float drive_current;
 
@@ -162,9 +160,6 @@ static void _driver_write(int driver) {
 }
 
 
-static void _set_current(int motor, float value);
-
-
 // Returns true if the current driver has more data to send
 static bool _driver_read(int driver) {
   tmc2660_driver_t *drv = &drivers[driver];
@@ -189,15 +184,6 @@ static bool _driver_read(int driver) {
     _report_error_flags(driver);
   }
 
-  // Update current
-  if (drv->target_current != drv->current) {
-    if (!drv->current) drv->current = 0.05;
-    else drv->current *= 1.05;
-    if (drv->target_current < drv->current) drv->current = drv->target_current;
-
-    _set_current(driver, drv->current);
-  }
-
   // Check if regs have changed
   for (int i = 0; i < REGS; i++)
     if (!(drv->reg_valid & (1 << i))) {
@@ -407,19 +393,13 @@ stat_t tmc2660_sync() {
 void tmc2660_enable(int driver) {
   printf("Enable %d\n", driver);
   tmc2660_reset(driver);
-  cli();
-  drivers[driver].target_current = drivers[driver].drive_current;
-  sei();
-  //_set_current(driver, drivers[driver].drive_current);
+  _set_current(driver, drivers[driver].drive_current);
 }
 
 
 void tmc2660_disable(int driver) {
   printf("Disable %d\n", driver);
-  cli();
-  drivers[driver].target_current = drivers[driver].idle_current;
-  sei();
-  //_set_current(driver, drivers[driver].idle_current);
+  _set_current(driver, drivers[driver].idle_current);
 }