catchrobo2022 / Mbed 2 deprecated CatchroboJointController

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Dependencies:   mbed FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Revision:
52:8e74c22ed89f
Parent:
48:74a40481740c
diff -r 6cd89bd6fcaa -r 8e74c22ed89f PositionSensor/PositionSensor.cpp
--- a/PositionSensor/PositionSensor.cpp	Wed Jul 17 03:40:12 2019 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun Jul 21 21:42:49 2019 +0000
@@ -8,7 +8,7 @@
 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
     //_CPR = CPR;
     _CPR = CPR;
-    _ppairs = ppairs;
+    //_ppairs = ppairs;
     ElecOffset = offset;
     rotations = 0;
     spi = new SPI(PC_12, PC_11, PC_10);
@@ -125,7 +125,11 @@
 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
     memcpy(offset_lut, new_lut, sizeof(offset_lut));
     }
-    
+
+void PositionSensorAM5147::SetNPP(int npp)
+{
+    _ppairs = npp;
+} 
 
 
 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {