Alison Bartsch / Mbed 2 deprecated FreeFlyerROS

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Dependencies:   mbed ros_lib_kinetic

Diff: QEI.cpp

Revision:
4:cae255669971
Parent:
1:40bdbe1a93b7
diff -r 402a6464f025 -r cae255669971 QEI.cpp
--- a/QEI.cpp	Mon Jun 25 00:56:05 2018 +0000
+++ b/QEI.cpp	Fri Jun 29 02:30:38 2018 +0000
@@ -291,11 +291,12 @@
 
     }
     
-    if (pulses_ >= pulsesPerSpeedMeas_) {
+    if (abs(pulses_) >= pulsesPerSpeedMeas_) {
         speed_ = (float)pulses_/timer.read();
         pulses_ = 0;
         timer.reset();
     }
+        
 
     prevState_ = currState_;