ichinoseki_Bteam_2019 / SPI_Encoder

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Dependents:   ArmNode

Diff: SPI_Encoder.cpp

Revision:
5:1458a8f024dc
Parent:
4:2331b7fcfe8d
diff -r 2331b7fcfe8d -r 1458a8f024dc SPI_Encoder.cpp
--- a/SPI_Encoder.cpp	Thu Sep 26 13:49:51 2019 +0000
+++ b/SPI_Encoder.cpp	Thu Sep 26 15:21:39 2019 +0000
@@ -47,8 +47,8 @@
         EncoderByteData  += temp[1];
         
         if(!direction[num]) _angle = EncoderByteData / 4096.0f * 2.0f * PI;    //normal
-        else _angle = abs((EncoderByteData / 4096.0f * 2.0f * PI) - 2.0f*PI);  //inverse
-        if(_angle > PI) angle[num] = _angle - 2*PI;                            //0~2π → -π~π
+        else _angle = abs((EncoderByteData / 4096.0f * 2.0f * PI) - 2.0f * PI);  //inverse
+        if(_angle > PI) angle[num] = _angle - 2 * PI;                            //0~2π → -π~π
         else angle[num] = _angle;
         
         velocity[num] = (angle[num] - pre_angle) / delta_t;