Ben Katz / Hobbyking_Cheetah

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Dependencies:   mbed-dev-f303 FastPWM3

Dependents:   GT_MOTOR_24NM_V03 GT_MOTOR_24NM_V03_PT1000CalTemp

Diff: PositionSensor/PositionSensor.h

Revision:
35:69b24894c11d
Parent:
34:51647c6c500d
Child:
37:c0f352d6e8e3
--- a/PositionSensor/PositionSensor.h	Wed Nov 08 15:18:18 2017 +0000
+++ b/PositionSensor/PositionSensor.h	Sat Nov 18 18:41:42 2017 +0000
@@ -36,7 +36,7 @@
     virtual void ZeroEncoderCountDown(void);
     int _CPR, flag, rotations, _ppairs, raw;
     //int state;
-    float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16];
+    float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
     int offset_lut[128];
 };
 
@@ -53,7 +53,7 @@
     virtual int GetCPR(void);
     virtual void WriteLUT(int new_lut[128]);
 private:
-    float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity, ElecVelocityFilt;
+    float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
     int raw, _CPR, rotations, old_counts, _ppairs;
     SPI *spi;
     DigitalOut *cs;