Ikhee Jo / T-Motor_AK80_BaseCode

BaseCode for T-Motor_AK80

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@57:d18e3d25ed8a, 2020-12-09 (annotated)

Committer:
Ikhee
Date:
Wed Dec 09 06:33:30 2020 +0000
Revision:
57:d18e3d25ed8a
Parent:
56:fe5056ac6740 
Last Updated version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1
benkatz 0:4e1c4df6aabd 2 #include "mbed.h"
benkatz 0:4e1c4df6aabd 3 #include "PositionSensor.h"
benkatz 47:e1196a851f76 4 #include "../math_ops.h"
benkatz 22:60276ba87ac6 5 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 6 //#include <math.h>
benkatz 0:4e1c4df6aabd 7
benkatz 14:80ce59119d93 8 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 9 //_CPR = CPR;
benkatz 14:80ce59119d93 10 _CPR = CPR;
benkatz 14:80ce59119d93 11 _ppairs = ppairs;
benkatz 22:60276ba87ac6 12 ElecOffset = offset;
benkatz 14:80ce59119d93 13 rotations = 0;
benkatz 14:80ce59119d93 14 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 15 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 16 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 17
benkatz 14:80ce59119d93 18 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 19 cs->write(1);
benkatz 22:60276ba87ac6 20 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 21 MechOffset = offset;
benkatz 22:60276ba87ac6 22 modPosition = 0;
benkatz 22:60276ba87ac6 23 oldModPosition = 0;
benkatz 22:60276ba87ac6 24 oldVel = 0;
benkatz 22:60276ba87ac6 25 raw = 0;
benkatz 56:fe5056ac6740 26 first_sample = 0;
benkatz 56:fe5056ac6740 27 for(int i = 0; i<100; i++) // Initial measurement is really noisy
benkatz 56:fe5056ac6740 28 {
benkatz 56:fe5056ac6740 29 spi->write(0);
benkatz 56:fe5056ac6740 30 wait_us(100);
benkatz 56:fe5056ac6740 31 }
Ikhee 57:d18e3d25ed8a 32
Ikhee 57:d18e3d25ed8a 33 GPIOA->ODR &= ~(1 << 15);
Ikhee 57:d18e3d25ed8a 34 spi->write(0x8980);
Ikhee 57:d18e3d25ed8a 35 wait_ms(20);
Ikhee 57:d18e3d25ed8a 36
benkatz 56:fe5056ac6740 37
benkatz 22:60276ba87ac6 38 }
benkatz 22:60276ba87ac6 39
benkatz 47:e1196a851f76 40 void PositionSensorAM5147::Sample(float dt){
benkatz 46:2d4b1dafcfe3 41 GPIOA->ODR &= ~(1 << 15);
benkatz 47:e1196a851f76 42 //raw = spi->write(readAngleCmd);
benkatz 47:e1196a851f76 43 //raw &= 0x3FFF;
benkatz 47:e1196a851f76 44 raw = spi->write(0);
benkatz 48:74a40481740c 45 raw = raw>>2; //Extract last 14 bits
benkatz 46:2d4b1dafcfe3 46 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 47 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 48 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 49 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 50 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 56:fe5056ac6740 51
benkatz 56:fe5056ac6740 52 if(first_sample){
benkatz 56:fe5056ac6740 53 if(angle - old_counts > _CPR/2){
benkatz 56:fe5056ac6740 54 rotations -= 1;
benkatz 56:fe5056ac6740 55 }
benkatz 56:fe5056ac6740 56 else if (angle - old_counts < -_CPR/2){
benkatz 56:fe5056ac6740 57 rotations += 1;
benkatz 56:fe5056ac6740 58 }
benkatz 56:fe5056ac6740 59 }
benkatz 56:fe5056ac6740 60 if(!first_sample){first_sample = 1;}
benkatz 22:60276ba87ac6 61
benkatz 22:60276ba87ac6 62 old_counts = angle;
benkatz 22:60276ba87ac6 63 oldModPosition = modPosition;
benkatz 46:2d4b1dafcfe3 64 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 46:2d4b1dafcfe3 65 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 66 MechPosition = position - MechOffset;
benkatz 46:2d4b1dafcfe3 67 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 46:2d4b1dafcfe3 68 if(elec < 0) elec += 2.0f*PI;
benkatz 46:2d4b1dafcfe3 69 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 70 ElecPosition = elec;
benkatz 22:60276ba87ac6 71
benkatz 22:60276ba87ac6 72 float vel;
benkatz 46:2d4b1dafcfe3 73 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 47:e1196a851f76 74
benkatz 46:2d4b1dafcfe3 75 if((modPosition-oldModPosition) < -3.0f){
benkatz 47:e1196a851f76 76 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 77 }
benkatz 46:2d4b1dafcfe3 78 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 46:2d4b1dafcfe3 79 else if((modPosition - oldModPosition) > 3.0f){
benkatz 47:e1196a851f76 80 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 81 }
benkatz 22:60276ba87ac6 82 else{
benkatz 47:e1196a851f76 83 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 84 }
benkatz 22:60276ba87ac6 85
benkatz 35:69b24894c11d 86 int n = 40;
benkatz 22:60276ba87ac6 87 float sum = vel;
benkatz 22:60276ba87ac6 88 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 89 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 90 sum += velVec[n-i];
benkatz 22:60276ba87ac6 91 }
benkatz 22:60276ba87ac6 92 velVec[0] = vel;
benkatz 46:2d4b1dafcfe3 93 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 94 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 95 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 96 }
benkatz 8:10ae7bc88d6e 97
benkatz 14:80ce59119d93 98 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 99 return raw;
benkatz 14:80ce59119d93 100 }
benkatz 38:67e4e1453a4b 101
benkatz 38:67e4e1453a4b 102 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 103 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 104 }
benkatz 14:80ce59119d93 105
benkatz 14:80ce59119d93 106 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 107 return MechPosition;
benkatz 14:80ce59119d93 108 }
benkatz 14:80ce59119d93 109
benkatz 14:80ce59119d93 110 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 111 return ElecPosition;
benkatz 14:80ce59119d93 112 }
benkatz 14:80ce59119d93 113
benkatz 37:c0f352d6e8e3 114 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 115 return ElecVelocity;
benkatz 37:c0f352d6e8e3 116 }
benkatz 37:c0f352d6e8e3 117
benkatz 14:80ce59119d93 118 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 119 return MechVelocity;
benkatz 14:80ce59119d93 120 }
benkatz 14:80ce59119d93 121
benkatz 14:80ce59119d93 122 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 123 rotations = 0;
benkatz 28:8c7e29f719c5 124 MechOffset = 0;
benkatz 47:e1196a851f76 125 Sample(.00025f);
benkatz 14:80ce59119d93 126 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 127 }
benkatz 0:4e1c4df6aabd 128
benkatz 22:60276ba87ac6 129 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 130 ElecOffset = offset;
benkatz 22:60276ba87ac6 131 }
benkatz 37:c0f352d6e8e3 132 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 133 MechOffset = offset;
benkatz 56:fe5056ac6740 134 first_sample = 0;
benkatz 37:c0f352d6e8e3 135 }
benkatz 22:60276ba87ac6 136
benkatz 22:60276ba87ac6 137 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 138 return _CPR;
benkatz 22:60276ba87ac6 139 }
benkatz 22:60276ba87ac6 140
benkatz 22:60276ba87ac6 141
benkatz 22:60276ba87ac6 142 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 143 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 144 }
benkatz 20:bf9ea5125d52 145
benkatz 22:60276ba87ac6 146
benkatz 37:c0f352d6e8e3 147
benkatz 10:370851e6e132 148 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 149 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 150 _CPR = CPR;
benkatz 0:4e1c4df6aabd 151 _offset = offset;
benkatz 3:6a0015d88d06 152 MechPosition = 0;
benkatz 22:60276ba87ac6 153 out_old = 0;
benkatz 22:60276ba87ac6 154 oldVel = 0;
benkatz 22:60276ba87ac6 155 raw = 0;
benkatz 0:4e1c4df6aabd 156
benkatz 0:4e1c4df6aabd 157 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 158 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 159
benkatz 0:4e1c4df6aabd 160 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
benkatz 0:4e1c4df6aabd 161 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
benkatz 0:4e1c4df6aabd 162 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 163 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
benkatz 0:4e1c4df6aabd 164 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 165 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 166
benkatz 0:4e1c4df6aabd 167 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 168 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 169 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 170
benkatz 22:60276ba87ac6 171 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 172 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 173 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 174 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 175 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 176 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 177 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 178
benkatz 7:dc5f27756e02 179 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 180
benkatz 3:6a0015d88d06 181 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 182
benkatz 3:6a0015d88d06 183 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 184 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 185
benkatz 3:6a0015d88d06 186 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 187 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 188 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 189 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 190
benkatz 3:6a0015d88d06 191 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 192 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 193 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 194 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 195
benkatz 3:6a0015d88d06 196
benkatz 22:60276ba87ac6 197 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 198
benkatz 22:60276ba87ac6 199 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 200 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 201 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 202 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 203 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 204 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 205 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 206 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 207 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 208 flag = 0;
benkatz 0:4e1c4df6aabd 209
benkatz 0:4e1c4df6aabd 210
benkatz 1:b8bceb4daed5 211 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 212 //ZTest->write(1);
benkatz 22:60276ba87ac6 213 }
benkatz 0:4e1c4df6aabd 214
benkatz 47:e1196a851f76 215 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 216
benkatz 22:60276ba87ac6 217 }
benkatz 22:60276ba87ac6 218
benkatz 0:4e1c4df6aabd 219
benkatz 22:60276ba87ac6 220 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 221 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 222 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 223 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 224 }
benkatz 0:4e1c4df6aabd 225
benkatz 22:60276ba87ac6 226 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 227 int raw = TIM3->CNT;
benkatz 10:370851e6e132 228 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 229 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 230 return elec;
benkatz 0:4e1c4df6aabd 231 }
benkatz 0:4e1c4df6aabd 232
benkatz 13:a3fa0a31b114 233
benkatz 3:6a0015d88d06 234
benkatz 3:6a0015d88d06 235 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 236
benkatz 9:d7eb815cb057 237 float out = 0;
benkatz 3:6a0015d88d06 238 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 239 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 240 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 241 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 242 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 243 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 244 out = meas;
benkatz 22:60276ba87ac6 245 //if(meas == oldVel){
benkatz 22:60276ba87ac6 246 // out = .9f*out_old;
benkatz 22:60276ba87ac6 247 // }
benkatz 22:60276ba87ac6 248
benkatz 22:60276ba87ac6 249
benkatz 22:60276ba87ac6 250 oldVel = meas;
benkatz 22:60276ba87ac6 251 out_old = out;
benkatz 22:60276ba87ac6 252 int n = 16;
benkatz 22:60276ba87ac6 253 float sum = out;
benkatz 22:60276ba87ac6 254 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 255 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 256 sum += velVec[n-i];
benkatz 9:d7eb815cb057 257 }
benkatz 22:60276ba87ac6 258 velVec[0] = out;
benkatz 22:60276ba87ac6 259 return sum/(float)n;
benkatz 3:6a0015d88d06 260 }
benkatz 13:a3fa0a31b114 261
benkatz 13:a3fa0a31b114 262 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 263 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 264 }
benkatz 13:a3fa0a31b114 265
benkatz 0:4e1c4df6aabd 266 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 267 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 268 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 269 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 270 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 271 //state = !state;
benkatz 1:b8bceb4daed5 272 //ZTest->write(state);
benkatz 7:dc5f27756e02 273 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 274 //flag = 1;
benkatz 7:dc5f27756e02 275 }
benkatz 7:dc5f27756e02 276 }
benkatz 7:dc5f27756e02 277 }
benkatz 22:60276ba87ac6 278
benkatz 22:60276ba87ac6 279 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 280
benkatz 22:60276ba87ac6 281 }
benkatz 7:dc5f27756e02 282
benkatz 7:dc5f27756e02 283 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 284 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 285 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 286 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 287 flag = 0;
benkatz 7:dc5f27756e02 288 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 289 if(dir != dir){
benkatz 7:dc5f27756e02 290 dir = dir;
benkatz 7:dc5f27756e02 291 rotations += dir;
benkatz 7:dc5f27756e02 292 }
benkatz 7:dc5f27756e02 293
benkatz 7:dc5f27756e02 294 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 295
benkatz 0:4e1c4df6aabd 296 }
benkatz 0:4e1c4df6aabd 297 }
benkatz 22:60276ba87ac6 298 }
benkatz 22:60276ba87ac6 299 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 300
benkatz 22:60276ba87ac6 301 }
benkatz 22:60276ba87ac6 302
benkatz 22:60276ba87ac6 303 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 304 return 0;
benkatz 22:60276ba87ac6 305 }
benkatz 22:60276ba87ac6 306
benkatz 22:60276ba87ac6 307 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 308 return _CPR;
benkatz 22:60276ba87ac6 309 }
benkatz 22:60276ba87ac6 310
benkatz 22:60276ba87ac6 311
benkatz 22:60276ba87ac6 312 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 313 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 314 }