Revision 5:94ab0cebd88f, committed 2019-12-05

Comitter:

BoGBoG

Date:

Thu Dec 05 18:05:14 2019 +0000

Parent:

4:dc96133b5129

Commit message:

a

Changed in this revision

--- a/QEI.cpp	Sat Oct 27 10:09:39 2018 +0000
+++ b/QEI.cpp	Thu Dec 05 18:05:14 2019 +0000
@@ -284,11 +284,11 @@
         return (float)pulses_ / (4 * pulsesPerRev_);
 }
 
-float QEI::getDistance(float diameter)
+float QEI::getDistance(float distance)
 {
     oldDistance_ = newDistance_;
-    newDistance_ = getRevolutions()*diameter*3.1415926;
-    return newDistance_; 
+    newDistance_ = getPulses();
+    return newDistance_-oldDistance_; 
 }
 
 void QEI::index(void) {
@@ -297,8 +297,11 @@
 }
 float QEI::getVelosity()
 {
-    getDistance(53.975);
-    velosity_ = ti.read()*(newDistance_-oldDistance_);
+    /*
+    getDistance(0.03);      //radius wheel 0.03m
+    velosity_ = (newDistance_-oldDistance_)/ti.read();*/
+    
+    velosity_ = (6.2831852*getDistance(0.03))/(pulsesPerRev_*ti.read());
     ti.reset();
     return velosity_;
 }