thermistor vs termistor rip

Author: PCrnjak

Spectral BLDC Firmware/src/common.h

@@ -88,8 +88,6 @@ typedef struct
     volatile float flux_linkage = 0;     // Flux linkage of your BLDC motor
     volatile float KV = 0;
 
-    volatile int Termistor_on_off = 0; // 0 is off 1 is on
-
     volatile int Max_temperature = 75; // Max temperature in degrees
     volatile int Min_temperature = -20; // Min temperature in degrees
 

Spectral BLDC Firmware/src/communication.cpp

@@ -481,7 +481,7 @@ void UART_protocol(Stream &Serialport)
             else if (strcmp(command, "Temp") == 0)
             {
                 Serialport.print("Temp ");
-                if (controller.Termistor_on_off == 1)
+                if (controller.Thermistor_on_off == 1)
                 {
                     Serialport.println(controller.TEMP_DEG);
                 }
@@ -499,15 +499,15 @@ void UART_protocol(Stream &Serialport)
                     int var = atoi(argument);
                     if (var >= 1)
                     {
-                        controller.Termistor_on_off = 1;
+                        controller.Thermistor_on_off = 1;
                     }
                     else
                     {
-                        controller.Termistor_on_off = 0;
+                        controller.Thermistor_on_off = 0;
                     }
                 }
                 Serialport.print("Term ");
-                Serialport.println(controller.Termistor_on_off);
+                Serialport.println(controller.Thermistor_on_off);
             }
 
             // Print controller mode

Spectral BLDC Firmware/src/motor_control.cpp

@@ -160,7 +160,7 @@ void IT_callback(void)
   #endif
 
   /*Sample temperature every 15000 ticks; If enabled*/
-  if (controller.Termistor_on_off == 1)
+  if (controller.Thermistor_on_off == 1)
   {
     static int temperature_tick = 0;
     if (temperature_tick >= 15000)
@@ -202,7 +202,7 @@ void IT_callback(void)
   /* Check for errors, If errors are present go idle  */
 
   ///  Check termistor
-  if (controller.Termistor_on_off == 1)
+  if (controller.Thermistor_on_off == 1)
   {
     if (controller.TEMP_DEG < controller.Min_temperature || controller.TEMP_DEG > controller.Max_temperature)
     {
@@ -1812,7 +1812,7 @@ void Gripper_mode()
     PID.Velocity_setpoint = -vel_sepoint;
   }
 
-  if (Gripper.action_status == 1 && Gripper.calibrated == 1 && Gripper.activated == 1) // if it is goto
+  if (Gripper.action_status == 1 && Gripper.calibrated == 1 && Gripper.activated == 1 && controller.I_AM_GRIPPER == 1) // if it is goto
   {
     // If our gripper is at the requested positon hold that position
     if (Gripper.position_setpoint == Gripper.position || Gripper.At_position == 1)