Martin Gurtner / HKC_MiniCheetah

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Diff: PositionSensor/PositionSensor.h

Revision:
56:fe5056ac6740
Parent:
47:e1196a851f76
--- a/PositionSensor/PositionSensor.h	Fri Oct 04 14:18:39 2019 +0000
+++ b/PositionSensor/PositionSensor.h	Thu Oct 10 15:03:12 2019 +0000
@@ -35,7 +35,7 @@
     //DigitalOut *ZTest;
     virtual void ZeroEncoderCount(void);
     virtual void ZeroEncoderCountDown(void);
-    int _CPR, flag, rotations, _ppairs, raw;
+    int _CPR, flag, rotations, _ppairs, raw, first_sample;
     //int state;
     float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
     int offset_lut[128];
@@ -58,7 +58,7 @@
     virtual void WriteLUT(int new_lut[128]);
 private:
     float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
-    int raw, _CPR, rotations, old_counts, _ppairs;
+    int raw, _CPR, rotations, old_counts, _ppairs, first_sample;
     SPI *spi;
     DigitalOut *cs;
     int readAngleCmd;