Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: PositionSensor/PositionSensor.cpp
- Revision:
- 7:caebf421f288
- Parent:
- 2:eabe8feaaabb
- Child:
- 8:70122bad5f90
--- a/PositionSensor/PositionSensor.cpp Fri Mar 18 12:07:14 2016 +0000 +++ b/PositionSensor/PositionSensor.cpp Wed Mar 30 06:50:11 2016 +0000 @@ -73,7 +73,7 @@ int raw = TIM2->CNT; if (raw < 0) raw += _CPR; if (raw >= _CPR) raw -= _CPR; - float signed_elec = fmod((2.0f * (6.28318530718f * (raw) / (float)_CPR + _offset)), 6.28318530718f); + float signed_elec = fmod((10.0f * (6.28318530718f * (raw) / (float)_CPR + _offset)), 6.28318530718f); if (signed_elec < 0) { return signed_elec + 6.28318530718f; } else { @@ -84,7 +84,9 @@ void PositionSensorEncoder::ZeroEncoderCount(void){ if (ZSense->read() == 1){ if (ZSense->read() == 1){ + ZTest->write(state); TIM2->CNT=0; + state = !state; } } } \ No newline at end of file