Diff: PositionSensor/PositionSensor.cpp

Revision:

121:de10418bf2c2

Parent:

120:57b6f3b1356b

Child:

124:e70ca81676fc

--- a/PositionSensor/PositionSensor.cpp	Tue Apr 25 07:03:08 2017 +0000
+++ b/PositionSensor/PositionSensor.cpp	Tue Apr 25 07:21:42 2017 +0000
@@ -54,15 +54,7 @@
  */
  
 float PositionSensorEncoder::GetMechPosition() {
-    int raw = TIM2->CNT;
-    if (raw < 0) raw += _cpr;
-    if (raw >= _cpr) raw -= _cpr;
-    float mp = fmod(1 / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset), 2 * PI);
-    if (mp < 0){
-        return mp + 2 * PI;
-    } else {
-        return mp;
-    }  
+    return GetUnlimitedElecPosition() / 3.0f;
 }
 
 /*
@@ -91,10 +83,6 @@
     return ep + _rotations * 2 * PI;
 }
 
-float PositionSensorEncoder::GetUnlimitedMechPosition() {
-    return GetUnlimitedElecPosition() / 3.0f;
-}
-
 void PositionSensorEncoder::ZeroEncoderCount(void){
     if (ZSense->read() == 1){
         if (ZSense->read() == 1){