refactor/fix loop

dzid26 · Nov 4, 2024 · 748dce7 · 748dce7
1 parent 40b87bb
commit 748dce7
Showing 1 changed file with 8 additions and 10 deletions.
diff --git a/firmware/src/BSP/calibration.c b/firmware/src/BSP/calibration.c
@@ -370,20 +370,18 @@ int8_t Estimate_motor_k_bemf() {
 			StepperCtrl_setCurrent(-MAX_CURRENT); //accelerate
 			delay_ms(300);
 		}
+
 		StepperCtrl_setCurrent(0);
-		for (int16_t i = 0; i < 10; ++i) {
+		int16_t i = 0;
+		while ((fastAbs(speed_slow) > base_speed * 9 / 10) && (i < 10)) {
+			++i;
 			delay_ms(100);
-			if (fastAbs(speed_slow) < base_speed * 9 / 10) {
-				break;
-				delay_ms(200);
-			}else{
-				// decay motor_k_bemf
-				motor_k_bemf = (int16_t)((int32_t)motor_k_bemf * 999 / 1000);
-			}
-		}	
+			// decay motor_k_bemf
+			motor_k_bemf = (int16_t)((int32_t)motor_k_bemf * 999 / 1000);
+		}
+		delay_ms(200);
 	}
 
-
 	StepperCtrl_setMotionMode(STEPCTRL_OFF);
 	return motor_k_bemf;
 }