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Dependencies:   mbed QEI

Diff: pot/pot.cpp

Revision:
22:c18f04d1dc49
Parent:
20:8063c82bbb35
Child:
23:5238b046119b
--- a/pot/pot.cpp	Wed Nov 16 23:48:46 2016 +0000
+++ b/pot/pot.cpp	Fri Nov 18 02:47:59 2016 +0000
@@ -10,7 +10,7 @@
 
 void Pot::update(){
     angular_velocity = (get_angle() - angle)/ UPDATE_TIME;
-    angle=get_angle();
+    angle=get_angle_pulse();
     velocity = (get_position() - position) / UPDATE_TIME;   
     position=get_position();
 }
@@ -25,6 +25,12 @@
     return a;  
 }
 
+float Pot::get_angle_pulse(){
+    float b = (float) 360/ (float)1024;
+    float a = ((float)encoder->getPulses()*b); 
+    return a;  
+}
+
 float Pot::get_position(){
     float a = (-1)*encoder->getPulses()*CM_PER_PULSE; 
     return a;