message: fix resistance measurement bug
diff: @@ -802,7 +802,7 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
  // Measurement and calibration
  //--------------------------------
  -// TODO measure all phases
  +// TODO check Ibeta balance to verify good motor connection
  static bool measure_phase_resistance(Motor_t* motor, float test_current, float max_voltage) {
  static const float kI = 10.0f; //[(V/s)/A]
  static const int num_test_cycles = 3.0f / CURRENT_MEAS_PERIOD; // Test runs for 3s
  @@ -832,7 +832,7 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
  queue_voltage_timings(motor, 0.0f, 0.0f);
  float R = test_voltage / test_current;
  - if (R < 0.01 || R > 0.2) {
  + if (fabs(test_voltage) == max_voltage || R < 0.01f || R > 1.0f) {
  motor->error = ERROR_PHASE_RESISTANCE_OUT_OF_RANGE;
  return false;
  }
  @@ -840,7 +840,6 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
  return true;
  }
  -// TODO measure all phases
  static bool measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_high) {
  float test_voltages[2] = {voltage_low, voltage_high};
  float Ialphas[2] = {0.0f};
  @@ -875,7 +874,7 @@ static bool measure_phase_inductance(Motor_t* motor, float voltage_low, float vo
  float L = v_L / dI_by_dt;
  // TODO arbitrary values set for now
  - if (L < 1e-6 || L > 500e-6) {
  + if (L < 1e-6f || L > 500e-6f) {
  motor->error = ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE;
  return false;
  }
  