mobile_robot_tea / hallsensor_software_decoder

hall sensor decoder

Dependents:   motor_control

Files at this revision

API Documentation at this revision

Revision 2:fcd99d737ff4, committed 2019-03-29

Comitter:
bobolee1239
Date:
Fri Mar 29 06:00:20 2019 +0000
Parent:
1:e5c83c0dc9c7
Commit message:
revised decoder (correct -> wrong) --- Brian

Changed in this revision

hallsensor_software_decoder.h Show annotated file Show diff for this revision Revisions of this file 
diff -r e5c83c0dc9c7 -r fcd99d737ff4 hallsensor_software_decoder.h
--- a/hallsensor_software_decoder.h	Fri Mar 29 05:05:52 2019 +0000
+++ b/hallsensor_software_decoder.h	Fri Mar 29 06:00:20 2019 +0000
@@ -50,8 +50,9 @@
      **     1. hallA = 0, 1
      **     2. hallB = 0, 1 
      ********************************/
-    wheelState1.state = (wheelState1.hallA << 1) + ((wheelState1.hallA ^ wheelState1.hallB) & 0x0001) + 1;
-    
+//    wheelState1.state = (wheelState1.hallA << 1) + ((wheelState1.hallA ^ wheelState1.hallB) & 0x0001) + 1;
+    wheelState1.state = (wheelState1.hallA << 1) + (((~wheelState1.hallA) && wheelState1.hallB) || (wheelState1.hallA && (~wheelState1.hallB))) + 1;
+
     
     if(wheelState1.state == 1) {
         if(wheelState1.prestate == 4) {
@@ -91,8 +92,9 @@
     wheelState2.hallB = HallB_2.read();
 
     /* state determination */
-    wheelState2.state = (wheelState2.hallA << 1) + ((wheelState2.hallA ^ wheelState2.hallB)&0x0001) + 1;
-    
+//    wheelState2.state = (wheelState2.hallA << 1) + ((wheelState2.hallA ^ wheelState2.hallB)&0x0001) + 1;
+    wheelState2.state = (wheelState2.hallA << 1) + (((~wheelState2.hallA) && wheelState2.hallB) || (wheelState2.hallA && (~wheelState2.hallB))) + 1;
+
     
     if(wheelState2.state == 1){
         if(wheelState2.prestate == 4){