Dmitry Kovalev / Mbed 2 deprecated LGstaandart

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Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

Diff: QEI.c

Revision:
191:40028201ddad
Parent:
190:289514f730ee
Child:
192:d32c8cf7bcd9
--- a/QEI.c	Tue Aug 23 14:03:16 2016 +0000
+++ b/QEI.c	Mon Aug 29 11:58:52 2016 +0000
@@ -14,8 +14,8 @@
 int Pulse_32Point;
 int Pulse_64Point;
 int Pulse_16PointD;
-int CaunAddPlus	=0;//счетчик ипульсов энкодера"+" за такт ВП
-int CaunAddMin	=0;//счетчик ипульсов энкодера"-" за такт ВП
+unsigned int CaunAddPlus	=0;//счетчик ипульсов энкодера"+" за такт ВП
+unsigned int CaunAddMin	=0;//счетчик ипульсов энкодера"-" за такт ВП
 
 int unsigned Cur_QEI, Last_QEI; //текушее и предыдущее,(единичное) значение энкодера
 
@@ -67,9 +67,8 @@
      
 
 
-        Buff_Restored_sin [CountV31]= Buff_16PointD[CountV31] - Buff_32Point[CountV31];
-    	if((Buff_Restored_sin [CountV31]) > 0)	CaunAddPlus += Buff_Restored_sin  [CountV31];
+        Buff_Restored_sin [CountV31]= (Buff_16PointD[CountV31]) - Buff_32Point[CountV31];
+        if((Buff_Restored_sin [CountV31]) > 0)	CaunAddPlus += Buff_Restored_sin  [CountV31];
     	else 									CaunAddMin	-= (Buff_Restored_sin [CountV31]); 			// расчет амплитуды
-
         Gyro.CuruAngle += 	Buff_32Point [CountV31];
 }