use lib for offset

PurdueLunabotics · Nov 6, 2024 · 9d5b296 · 9d5b296
1 parent 2dfaeb1
commit 9d5b296
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers/interfaces.cpp b/lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers/interfaces.cpp
@@ -241,6 +241,7 @@ void HX711_Bus::init() {
     // if (encs[i].is_ready()) {
     //   encs[i].tare();
     // }
+    encs[i].set_offset(ZERO_POINT[i]);
     encs[i].set_gain(HX711_CHANNEL_A_GAIN_128);
     encs[i].set_scale(SCALE_CALIBRATION[i]);
   }
@@ -250,7 +251,7 @@ float HX711_Bus::read_scale(uint8_t id) {
   if (encs[id].is_ready()) {
     // since we could start with weight on the load cell, manually subtract zero point instead of
     // taring
-    float val = encs[id].read() - 8142300F;
+    float val = encs[id].get_value(1);
     // if load cell is not returning any data, but HX711 is connected
     if (val == 0)
       return -1;

diff --git a/lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers/interfaces.hpp b/lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers/interfaces.hpp
@@ -191,9 +191,9 @@ class HX711_Bus {
 private:
   static constexpr int NUM_SENSORS = 2;
   static constexpr int PIN_LIST[NUM_SENSORS * 2] = {27, 26, 29, 28};
-  static constexpr float ZERO_POINT[NUM_SENSORS] = {8143500, 8143500};
-  static constexpr float SCALE_CALIBRATION[NUM_SENSORS] = {-24.111,
-                                                           -24.111}; // TODO, calibrate these
+  static constexpr float ZERO_POINT[NUM_SENSORS] = {8143500f, 8143500f};
+  static constexpr float SCALE_CALIBRATION[NUM_SENSORS] = {-24.111f,
+                                                           -24.111f}; // TODO, calibrate these
 
   static HX711 encs[NUM_SENSORS];
 };