From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Fri, 31 Aug 2018 22:19:01 +0000 (-0700)
Subject: Small fix for max current
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=362a7cdf758e3c0c27f9d670a3600a81b9adef92;p=bbctrl-firmware

Small fix for max current
---

diff --git a/src/avr/src/drv8711.c b/src/avr/src/drv8711.c
index 69e0a66..ef996e1 100644
--- a/src/avr/src/drv8711.c
+++ b/src/avr/src/drv8711.c
@@ -104,24 +104,26 @@ static void _current_set(current_t *c, float current) {
   float torque_over_gain = current * CURRENT_SENSE_RESISTOR / CURRENT_SENSE_REF;
   float gain = 0;
 
-  if (torque_over_gain < 1.0 / 40) {
+  if (torque_over_gain <= 1.0 / 40) {
     c->isgain = DRV8711_CTRL_ISGAIN_40;
     gain = 40;
 
-  } else if (torque_over_gain < 1.0 / 20) {
+  } else if (torque_over_gain <= 1.0 / 20) {
     c->isgain = DRV8711_CTRL_ISGAIN_20;
     gain = 20;
 
-  } else if (torque_over_gain < 1.0 / 10) {
+  } else if (torque_over_gain <= 1.0 / 10) {
     c->isgain = DRV8711_CTRL_ISGAIN_10;
     gain = 10;
 
-  } else if (torque_over_gain < 1.0 / 5) {
+  } else {
+    // Max configurable current is 11A
+    if (1.0 / 5 < torque_over_gain) torque_over_gain = 1.0 / 5;
     c->isgain = DRV8711_CTRL_ISGAIN_5;
     gain = 5;
   }
 
-  c->torque = round(torque_over_gain * gain * 256);
+  c->torque = round(torque_over_gain * gain * 255);
 }