Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: PositionSensor/PositionSensor.cpp

Revision:
120:57b6f3b1356b
Parent:
119:ad7a6af6fba3
Child:
121:de10418bf2c2
--- a/PositionSensor/PositionSensor.cpp	Tue Apr 25 04:49:46 2017 +0000
+++ b/PositionSensor/PositionSensor.cpp	Tue Apr 25 07:03:08 2017 +0000
@@ -82,7 +82,7 @@
 }
 
 /*
- * Return the electrical position in radians
+ * Return the electrical position in radians (no limit, INT_MAX * 2 * PI max value)
  */
  
 float PositionSensorEncoder::GetUnlimitedElecPosition() {
@@ -91,6 +91,10 @@
     return ep + _rotations * 2 * PI;
 }
 
+float PositionSensorEncoder::GetUnlimitedMechPosition() {
+    return GetUnlimitedElecPosition() / 3.0f;
+}
+
 void PositionSensorEncoder::ZeroEncoderCount(void){
     if (ZSense->read() == 1){
         if (ZSense->read() == 1){