feat: reduce servo calibration result to mitigate motor straining at …

…the ends of the range
nvsukhanov · Mar 12, 2024 · 0f028e8 · 0f028e8
1 parent a7b289b
commit 0f028e8
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/modules/shared/misc/src/lib/i-app-config.ts b/modules/shared/misc/src/lib/i-app-config.ts
@@ -18,6 +18,8 @@ export interface IAppConfig {
         readonly autoCalibrationRuns: number;
         readonly aposCenterMin: number;
         readonly aposCenterMax: number;
+        // 0.05 means 5% reduction. Used to reduce straining on the servo motor at the ends of the range.
+        readonly calibrationRangeResultReductionFactor: number;
     };
 }
 
@@ -38,7 +40,8 @@ export const APP_CONFIG = new InjectionToken<IAppConfig>('APP_CONFIG', {
             manualCalibrationRuns: 2,
             autoCalibrationRuns: 1,
             aposCenterMin: -MOTOR_LIMITS.maxServoDegreesRange / 2,
-            aposCenterMax: MOTOR_LIMITS.maxServoDegreesRange / 2
+            aposCenterMax: MOTOR_LIMITS.maxServoDegreesRange / 2,
+            calibrationRangeResultReductionFactor: 0.05
         }
     }),
     providedIn: 'root'

diff --git a/modules/store/src/lib/hub-facades/hub-servo-calibration-facade.service.ts b/modules/store/src/lib/hub-facades/hub-servo-calibration-facade.service.ts
@@ -276,11 +276,12 @@ export class HubServoCalibrationFacadeService {
         const cwDistanceFromStartPosition = cwProbeResult - startRelativePosition;
 
         const arcCenterPosition = Math.round((ccwProbeResult + cwProbeResult) / 2);
-        const servoRange = Math.round(Math.abs(ccwDistanceFromStartPosition + cwDistanceFromStartPosition));
+        const rawServoRange = Math.round(Math.abs(ccwDistanceFromStartPosition + cwDistanceFromStartPosition));
+        const servoRange = rawServoRange * Math.max(0, 1 - this.appConfig.servo.calibrationRangeResultReductionFactor);
         const arcCenterAbsolutePosition = Math.round(transformRelativeDegToAbsoluteDeg(arcCenterPosition + encoderOffset));
 
         return {
-            servoRange: servoRange,
+            servoRange,
             arcCenterPosition,
             arcCenterAbsolutePosition
         };