Diff: PositionSensor/PositionSensor.cpp

Revision:

15:b583cd30b063

Parent:

9:074575151e4b

Child:

24:5e18a87a0e95

--- a/PositionSensor/PositionSensor.cpp	Sun Oct 30 02:19:41 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun Oct 30 22:16:30 2016 +0000
@@ -1,7 +1,7 @@
 
 #include "mbed.h"
 #include "PositionSensor.h"
-#include "config.h"
+#include "config_motor.h"
 #include <math.h>
 
 /*
@@ -57,12 +57,11 @@
     int raw = TIM2->CNT;
     if (raw < 0) raw += _cpr;
     if (raw >= _cpr) raw -= _cpr;
-    float signed_elec = fmod(6.28318530718f * (raw) / (float)_cpr + _offset, 6.28318530718f);
-    if (signed_elec < 0){
-        return signed_elec + 6.28318530718f;
-    }
-    else{
-        return signed_elec;
+    float signed_mech = fmod(6.28318530718f * (raw) / (float)_cpr + _offset, 6.28318530718f);
+    if (signed_mech < 0){
+        return signed_mech + 6.28318530718f;
+    } else {
+        return signed_mech;
     }  
 }