ロボステ6期 / Encoder_

ai

Dependents:   ball_snatch NHK2020-arm-sub NHK2020-arm-sub NHK2020-arm-sub2 ... more

Diff: EC.cpp

Revision:
13:9a21d4def4c6
Parent:
11:acbbd742df47
diff -r f261038cb88f -r 9a21d4def4c6 EC.cpp
--- a/EC.cpp	Fri Aug 09 06:27:49 2019 +0000
+++ b/EC.cpp	Sat Nov 09 06:53:58 2019 +0000
@@ -11,6 +11,7 @@
 int Ec::getCount()const
 {
     return count_;
+    //return pre_count_;
 }
 
 double Ec::getRad()const
@@ -22,6 +23,8 @@
 {
     double t=timer_.read();
     omega_=(count_-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
+//    omega_=(getCount()-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
+    //pre_count_=getCount();
     pre_count_=count_;
     ptw_=t;
 }