Diff: REnc.cpp

Revision:

2:46173a05338e

Parent:

1:2732adb68dad

Child:

3:9dfe441065e9

--- a/REnc.cpp	Wed Aug 06 06:35:47 2014 +0000
+++ b/REnc.cpp	Wed Aug 06 23:46:02 2014 +0000
@@ -54,14 +54,14 @@
         case 0x7:
         case 0xe:
             CMD = FORWARD;
-            cnt = 300;
+            cnt = RENC_EXECUTION_DELAY;
             STABLE = 0;
             if (mRightCallback != NULL)  { mRightCallback();  CMD = STOP; }
             break;
         case 0xb:
         case 0xd:
             CMD = REVERSE;
-            cnt = 300;
+            cnt = RENC_EXECUTION_DELAY;
             STABLE = 0;
             if (mLeftCallback != NULL)   { mLeftCallback();   CMD = STOP; } 
             break;
@@ -86,7 +86,8 @@
 REnc::REnc(PinName pina, PinName pinb) : _pina(pina), _pinb(pinb)
 {
     CMD = STOP;
+    STABLE = 1;
     mRightCallback  = NULL;
     mLeftCallback   = NULL;
-    _tick.attach(this, &REnc::sample_encoder, 0.002);
+    _tick.attach(this, &REnc::sample_encoder, RENC_SAMPLING_PERIOD);
 }