Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Diff: PositionSensor/PositionSensor.cpp

Revision:
12:c473a25f54f7
Parent:
11:c83b18d41e54
Child:
13:a3fa0a31b114
--- a/PositionSensor/PositionSensor.cpp	Sun May 22 00:14:59 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun May 22 03:38:19 2016 +0000
@@ -140,9 +140,7 @@
 }
 
 float PositionSensorEncoder::GetElecVelocity(){
-    float rawPeriod = TIM2->CCR1; //Clock Ticks
-    float  dir = (((TIM3->CR1)>>4)&1)*2-1;    // +/- 1
-    return dir*_ppairs*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
+    return _ppairs*GetMechVelocity();
     }
     
 float PositionSensorEncoder::GetMechVelocity(){