Diff: PositionSensor/PositionSensor.cpp

Revision:

192:3152a86cd108

Parent:

186:c18db1e31da6

Child:

225:81b72a4bf18b

--- a/PositionSensor/PositionSensor.cpp	Sat Feb 10 03:42:07 2018 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sat Feb 10 03:58:36 2018 +0000
@@ -2,8 +2,8 @@
 #include "mbed.h"
 #include "PositionSensor.h"
 
-#include "defaults.h"
 #include "derived.h"
+#include "prefs.h"
 
 /*
  * CPR: counts per revolution (4x lines per revolution)
@@ -13,7 +13,7 @@
 PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) {
     _cpr = cpr;
     _offset = offset;
-    _lobes = (int) (RESOLVER_LOBES);
+    _lobes = (int) (_RESOLVER_LOBES);
     
     _valid = false;
     _rotations = 0;
@@ -55,7 +55,7 @@
  */
  
 float PositionSensorEncoder::GetMechPosition() {
-    return GetUnlimitedElecPosition() / 3.0f;
+    return GetUnlimitedElecPosition() / _POLE_PAIRS;
 }
 
 /*
@@ -66,7 +66,7 @@
     int raw = TIM2->CNT;
     if (raw < 0) raw += _cpr;
     if (raw >= _cpr) raw -= _cpr;
-    float ep = fmod((POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI);
+    float ep = fmod((_POLE_PAIRS / _RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI);
     if (ep < 0) {
         return ep + 2 * PI;
     } else {
@@ -80,7 +80,7 @@
  
 float PositionSensorEncoder::GetUnlimitedElecPosition() {
     int raw = TIM2->CNT;
-    float ep = POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset);
+    float ep = _POLE_PAIRS / _RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset);
     return ep + _rotations * 2 * PI;
 }