ROBOSTEP_5期 / Hobbyking_Cheetah_Compact_DRV8323

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Revision:
11:c83b18d41e54
Parent:
10:370851e6e132
Child:
12:c473a25f54f7
--- a/PositionSensor/PositionSensor.cpp	Thu May 12 05:02:52 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun May 22 00:14:59 2016 +0000
@@ -15,7 +15,15 @@
     cs->write(1);
     MechOffset = 0;
     }
+
+int PositionSensorSPI::GetRawPosition(){
+        cs->write(0);
+    int response = spi->write(0)>>4;
+    cs->write(1);
+    return response;
+    }
     
+
 float PositionSensorSPI::GetMechPosition(){
     cs->write(0);
     int response = spi->write(0)>>4;
@@ -28,8 +36,8 @@
         }
     old_counts = response;
     MechPosition = (6.28318530718f * ((float) response+(_CPR*rotations)))/ (float)_CPR;
-    return MechPosition - MechOffset;
-    
+    //return MechPosition - MechOffset;
+    return MechPosition;
     }
 
 float PositionSensorSPI::GetElecPosition(){
@@ -143,7 +151,7 @@
     
     float  dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;    // +/- 1
     float meas = dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; 
-    
+    out = meas;
     if(meas == vel_old){
         out = .95f*out_old;
         }