Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

PositionSensor/PositionSensor.cpp@56:fe5056ac6740, 2019-10-10 (annotated)

Committer:
benkatz
Date:
Thu Oct 10 15:03:12 2019 +0000
Revision:
56:fe5056ac6740
Parent:
48:74a40481740c 
fixed position-sensor turn-on weirdness; ; improved output zeroing to work independent of encoder rollover angle

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1
benkatz 0:4e1c4df6aabd 2 #include "mbed.h"
benkatz 0:4e1c4df6aabd 3 #include "PositionSensor.h"
benkatz 47:e1196a851f76 4 #include "../math_ops.h"
benkatz 22:60276ba87ac6 5 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 6 //#include <math.h>
benkatz 0:4e1c4df6aabd 7
benkatz 14:80ce59119d93 8 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 9 //_CPR = CPR;
benkatz 14:80ce59119d93 10 _CPR = CPR;
benkatz 14:80ce59119d93 11 _ppairs = ppairs;
benkatz 22:60276ba87ac6 12 ElecOffset = offset;
benkatz 14:80ce59119d93 13 rotations = 0;
benkatz 14:80ce59119d93 14 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 15 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 16 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 17
benkatz 14:80ce59119d93 18 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 19 cs->write(1);
benkatz 22:60276ba87ac6 20 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 21 MechOffset = offset;
benkatz 22:60276ba87ac6 22 modPosition = 0;
benkatz 22:60276ba87ac6 23 oldModPosition = 0;
benkatz 22:60276ba87ac6 24 oldVel = 0;
benkatz 22:60276ba87ac6 25 raw = 0;
benkatz 56:fe5056ac6740 26 first_sample = 0;
benkatz 56:fe5056ac6740 27 for(int i = 0; i<100; i++) // Initial measurement is really noisy
benkatz 56:fe5056ac6740 28 {
benkatz 56:fe5056ac6740 29 spi->write(0);
benkatz 56:fe5056ac6740 30 wait_us(100);
benkatz 56:fe5056ac6740 31 }
benkatz 56:fe5056ac6740 32
benkatz 22:60276ba87ac6 33 }
benkatz 22:60276ba87ac6 34
benkatz 47:e1196a851f76 35 void PositionSensorAM5147::Sample(float dt){
benkatz 46:2d4b1dafcfe3 36 GPIOA->ODR &= ~(1 << 15);
benkatz 47:e1196a851f76 37 //raw = spi->write(readAngleCmd);
benkatz 47:e1196a851f76 38 //raw &= 0x3FFF;
benkatz 47:e1196a851f76 39 raw = spi->write(0);
benkatz 48:74a40481740c 40 raw = raw>>2; //Extract last 14 bits
benkatz 46:2d4b1dafcfe3 41 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 42 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 43 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 44 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 45 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 56:fe5056ac6740 46
benkatz 56:fe5056ac6740 47 if(first_sample){
benkatz 56:fe5056ac6740 48 if(angle - old_counts > _CPR/2){
benkatz 56:fe5056ac6740 49 rotations -= 1;
benkatz 56:fe5056ac6740 50 }
benkatz 56:fe5056ac6740 51 else if (angle - old_counts < -_CPR/2){
benkatz 56:fe5056ac6740 52 rotations += 1;
benkatz 56:fe5056ac6740 53 }
benkatz 56:fe5056ac6740 54 }
benkatz 56:fe5056ac6740 55 if(!first_sample){first_sample = 1;}
benkatz 22:60276ba87ac6 56
benkatz 22:60276ba87ac6 57 old_counts = angle;
benkatz 22:60276ba87ac6 58 oldModPosition = modPosition;
benkatz 46:2d4b1dafcfe3 59 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 46:2d4b1dafcfe3 60 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 61 MechPosition = position - MechOffset;
benkatz 46:2d4b1dafcfe3 62 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 46:2d4b1dafcfe3 63 if(elec < 0) elec += 2.0f*PI;
benkatz 46:2d4b1dafcfe3 64 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 65 ElecPosition = elec;
benkatz 22:60276ba87ac6 66
benkatz 22:60276ba87ac6 67 float vel;
benkatz 46:2d4b1dafcfe3 68 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 47:e1196a851f76 69
benkatz 46:2d4b1dafcfe3 70 if((modPosition-oldModPosition) < -3.0f){
benkatz 47:e1196a851f76 71 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 72 }
benkatz 46:2d4b1dafcfe3 73 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 46:2d4b1dafcfe3 74 else if((modPosition - oldModPosition) > 3.0f){
benkatz 47:e1196a851f76 75 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 76 }
benkatz 22:60276ba87ac6 77 else{
benkatz 47:e1196a851f76 78 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 79 }
benkatz 22:60276ba87ac6 80
benkatz 35:69b24894c11d 81 int n = 40;
benkatz 22:60276ba87ac6 82 float sum = vel;
benkatz 22:60276ba87ac6 83 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 84 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 85 sum += velVec[n-i];
benkatz 22:60276ba87ac6 86 }
benkatz 22:60276ba87ac6 87 velVec[0] = vel;
benkatz 46:2d4b1dafcfe3 88 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 89 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 90 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 91 }
benkatz 8:10ae7bc88d6e 92
benkatz 14:80ce59119d93 93 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 94 return raw;
benkatz 14:80ce59119d93 95 }
benkatz 38:67e4e1453a4b 96
benkatz 38:67e4e1453a4b 97 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 98 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 99 }
benkatz 14:80ce59119d93 100
benkatz 14:80ce59119d93 101 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 102 return MechPosition;
benkatz 14:80ce59119d93 103 }
benkatz 14:80ce59119d93 104
benkatz 14:80ce59119d93 105 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 106 return ElecPosition;
benkatz 14:80ce59119d93 107 }
benkatz 14:80ce59119d93 108
benkatz 37:c0f352d6e8e3 109 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 110 return ElecVelocity;
benkatz 37:c0f352d6e8e3 111 }
benkatz 37:c0f352d6e8e3 112
benkatz 14:80ce59119d93 113 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 114 return MechVelocity;
benkatz 14:80ce59119d93 115 }
benkatz 14:80ce59119d93 116
benkatz 14:80ce59119d93 117 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 118 rotations = 0;
benkatz 28:8c7e29f719c5 119 MechOffset = 0;
benkatz 47:e1196a851f76 120 Sample(.00025f);
benkatz 14:80ce59119d93 121 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 122 }
benkatz 0:4e1c4df6aabd 123
benkatz 22:60276ba87ac6 124 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 125 ElecOffset = offset;
benkatz 22:60276ba87ac6 126 }
benkatz 37:c0f352d6e8e3 127 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 128 MechOffset = offset;
benkatz 56:fe5056ac6740 129 first_sample = 0;
benkatz 37:c0f352d6e8e3 130 }
benkatz 22:60276ba87ac6 131
benkatz 22:60276ba87ac6 132 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 133 return _CPR;
benkatz 22:60276ba87ac6 134 }
benkatz 22:60276ba87ac6 135
benkatz 22:60276ba87ac6 136
benkatz 22:60276ba87ac6 137 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 138 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 139 }
benkatz 20:bf9ea5125d52 140
benkatz 22:60276ba87ac6 141
benkatz 37:c0f352d6e8e3 142
benkatz 10:370851e6e132 143 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 144 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 145 _CPR = CPR;
benkatz 0:4e1c4df6aabd 146 _offset = offset;
benkatz 3:6a0015d88d06 147 MechPosition = 0;
benkatz 22:60276ba87ac6 148 out_old = 0;
benkatz 22:60276ba87ac6 149 oldVel = 0;
benkatz 22:60276ba87ac6 150 raw = 0;
benkatz 0:4e1c4df6aabd 151
benkatz 0:4e1c4df6aabd 152 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 153 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 154
benkatz 0:4e1c4df6aabd 155 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
benkatz 0:4e1c4df6aabd 156 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
benkatz 0:4e1c4df6aabd 157 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 158 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
benkatz 0:4e1c4df6aabd 159 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 160 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 161
benkatz 0:4e1c4df6aabd 162 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 163 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 164 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 165
benkatz 22:60276ba87ac6 166 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 167 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 168 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 169 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 170 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 171 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 172 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 173
benkatz 7:dc5f27756e02 174 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 175
benkatz 3:6a0015d88d06 176 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 177
benkatz 3:6a0015d88d06 178 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 179 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 180
benkatz 3:6a0015d88d06 181 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 182 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 183 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 184 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 185
benkatz 3:6a0015d88d06 186 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 187 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 188 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 189 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 190
benkatz 3:6a0015d88d06 191
benkatz 22:60276ba87ac6 192 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 193
benkatz 22:60276ba87ac6 194 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 195 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 196 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 197 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 198 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 199 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 200 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 201 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 202 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 203 flag = 0;
benkatz 0:4e1c4df6aabd 204
benkatz 0:4e1c4df6aabd 205
benkatz 1:b8bceb4daed5 206 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 207 //ZTest->write(1);
benkatz 22:60276ba87ac6 208 }
benkatz 0:4e1c4df6aabd 209
benkatz 47:e1196a851f76 210 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 211
benkatz 22:60276ba87ac6 212 }
benkatz 22:60276ba87ac6 213
benkatz 0:4e1c4df6aabd 214
benkatz 22:60276ba87ac6 215 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 216 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 217 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 218 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 219 }
benkatz 0:4e1c4df6aabd 220
benkatz 22:60276ba87ac6 221 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 222 int raw = TIM3->CNT;
benkatz 10:370851e6e132 223 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 224 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 225 return elec;
benkatz 0:4e1c4df6aabd 226 }
benkatz 0:4e1c4df6aabd 227
benkatz 13:a3fa0a31b114 228
benkatz 3:6a0015d88d06 229
benkatz 3:6a0015d88d06 230 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 231
benkatz 9:d7eb815cb057 232 float out = 0;
benkatz 3:6a0015d88d06 233 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 234 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 235 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 236 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 237 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 238 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 239 out = meas;
benkatz 22:60276ba87ac6 240 //if(meas == oldVel){
benkatz 22:60276ba87ac6 241 // out = .9f*out_old;
benkatz 22:60276ba87ac6 242 // }
benkatz 22:60276ba87ac6 243
benkatz 22:60276ba87ac6 244
benkatz 22:60276ba87ac6 245 oldVel = meas;
benkatz 22:60276ba87ac6 246 out_old = out;
benkatz 22:60276ba87ac6 247 int n = 16;
benkatz 22:60276ba87ac6 248 float sum = out;
benkatz 22:60276ba87ac6 249 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 250 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 251 sum += velVec[n-i];
benkatz 9:d7eb815cb057 252 }
benkatz 22:60276ba87ac6 253 velVec[0] = out;
benkatz 22:60276ba87ac6 254 return sum/(float)n;
benkatz 3:6a0015d88d06 255 }
benkatz 13:a3fa0a31b114 256
benkatz 13:a3fa0a31b114 257 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 258 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 259 }
benkatz 13:a3fa0a31b114 260
benkatz 0:4e1c4df6aabd 261 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 262 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 263 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 264 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 265 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 266 //state = !state;
benkatz 1:b8bceb4daed5 267 //ZTest->write(state);
benkatz 7:dc5f27756e02 268 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 269 //flag = 1;
benkatz 7:dc5f27756e02 270 }
benkatz 7:dc5f27756e02 271 }
benkatz 7:dc5f27756e02 272 }
benkatz 22:60276ba87ac6 273
benkatz 22:60276ba87ac6 274 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 275
benkatz 22:60276ba87ac6 276 }
benkatz 7:dc5f27756e02 277
benkatz 7:dc5f27756e02 278 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 279 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 280 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 281 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 282 flag = 0;
benkatz 7:dc5f27756e02 283 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 284 if(dir != dir){
benkatz 7:dc5f27756e02 285 dir = dir;
benkatz 7:dc5f27756e02 286 rotations += dir;
benkatz 7:dc5f27756e02 287 }
benkatz 7:dc5f27756e02 288
benkatz 7:dc5f27756e02 289 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 290
benkatz 0:4e1c4df6aabd 291 }
benkatz 0:4e1c4df6aabd 292 }
benkatz 22:60276ba87ac6 293 }
benkatz 22:60276ba87ac6 294 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 295
benkatz 22:60276ba87ac6 296 }
benkatz 22:60276ba87ac6 297
benkatz 22:60276ba87ac6 298 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 299 return 0;
benkatz 22:60276ba87ac6 300 }
benkatz 22:60276ba87ac6 301
benkatz 22:60276ba87ac6 302 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 303 return _CPR;
benkatz 22:60276ba87ac6 304 }
benkatz 22:60276ba87ac6 305
benkatz 22:60276ba87ac6 306
benkatz 22:60276ba87ac6 307 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 308 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 309 }