Test the set param mode
PositionSensor/PositionSensor.cpp@25:f5741040c4bb, 2017-04-09 (annotated)
- Committer:
- benkatz
- Date:
- Sun Apr 09 03:05:52 2017 +0000
- Revision:
- 25:f5741040c4bb
- Parent:
- 23:2adf23ee0305
- Child:
- 26:2b865c00d7e9
Set current bandwidth from serial interface
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | |
benkatz | 0:4e1c4df6aabd | 2 | #include "mbed.h" |
benkatz | 0:4e1c4df6aabd | 3 | #include "PositionSensor.h" |
benkatz | 22:60276ba87ac6 | 4 | //#include "offset_lut.h" |
benkatz | 6:4ee1cdc43aa8 | 5 | //#include <math.h> |
benkatz | 0:4e1c4df6aabd | 6 | |
benkatz | 14:80ce59119d93 | 7 | PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){ |
benkatz | 14:80ce59119d93 | 8 | //_CPR = CPR; |
benkatz | 14:80ce59119d93 | 9 | _CPR = CPR; |
benkatz | 14:80ce59119d93 | 10 | _ppairs = ppairs; |
benkatz | 22:60276ba87ac6 | 11 | ElecOffset = offset; |
benkatz | 14:80ce59119d93 | 12 | rotations = 0; |
benkatz | 14:80ce59119d93 | 13 | spi = new SPI(PC_12, PC_11, PC_10); |
benkatz | 14:80ce59119d93 | 14 | spi->format(16, 1); |
benkatz | 20:bf9ea5125d52 | 15 | spi->frequency(5000000); |
benkatz | 14:80ce59119d93 | 16 | cs = new DigitalOut(PA_15); |
benkatz | 14:80ce59119d93 | 17 | cs->write(1); |
benkatz | 22:60276ba87ac6 | 18 | readAngleCmd = 0xffff; |
benkatz | 14:80ce59119d93 | 19 | MechOffset = 0; |
benkatz | 22:60276ba87ac6 | 20 | modPosition = 0; |
benkatz | 22:60276ba87ac6 | 21 | oldModPosition = 0; |
benkatz | 22:60276ba87ac6 | 22 | oldVel = 0; |
benkatz | 22:60276ba87ac6 | 23 | raw = 0; |
benkatz | 22:60276ba87ac6 | 24 | } |
benkatz | 22:60276ba87ac6 | 25 | |
benkatz | 22:60276ba87ac6 | 26 | void PositionSensorAM5147::Sample(){ |
benkatz | 22:60276ba87ac6 | 27 | cs->write(0); |
benkatz | 22:60276ba87ac6 | 28 | raw = spi->write(readAngleCmd); |
benkatz | 25:f5741040c4bb | 29 | raw &= 0x3FFF; //Extract last 14 bits |
benkatz | 22:60276ba87ac6 | 30 | cs->write(1); |
benkatz | 25:f5741040c4bb | 31 | int off_1 = offset_lut[raw>>7]; |
benkatz | 25:f5741040c4bb | 32 | int off_2 = offset_lut[((raw>>7)+1)%128]; |
benkatz | 25:f5741040c4bb | 33 | int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries |
benkatz | 25:f5741040c4bb | 34 | int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration |
benkatz | 22:60276ba87ac6 | 35 | if(angle - old_counts > _CPR/2){ |
benkatz | 22:60276ba87ac6 | 36 | rotations -= 1; |
benkatz | 22:60276ba87ac6 | 37 | } |
benkatz | 22:60276ba87ac6 | 38 | else if (angle - old_counts < -_CPR/2){ |
benkatz | 22:60276ba87ac6 | 39 | rotations += 1; |
benkatz | 22:60276ba87ac6 | 40 | } |
benkatz | 22:60276ba87ac6 | 41 | |
benkatz | 22:60276ba87ac6 | 42 | old_counts = angle; |
benkatz | 22:60276ba87ac6 | 43 | oldModPosition = modPosition; |
benkatz | 22:60276ba87ac6 | 44 | modPosition = ((6.28318530718f * ((float) angle))/ (float)_CPR); |
benkatz | 22:60276ba87ac6 | 45 | position = (6.28318530718f * ((float) angle+(_CPR*rotations)))/ (float)_CPR; |
benkatz | 22:60276ba87ac6 | 46 | MechPosition = position - MechOffset; |
benkatz | 22:60276ba87ac6 | 47 | float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) - ElecOffset; |
benkatz | 22:60276ba87ac6 | 48 | if(elec < 0) elec += 6.28318530718f; |
benkatz | 23:2adf23ee0305 | 49 | else if(elec > 6.28318530718f) elec -= 6.28318530718f ; |
benkatz | 22:60276ba87ac6 | 50 | ElecPosition = elec; |
benkatz | 22:60276ba87ac6 | 51 | |
benkatz | 22:60276ba87ac6 | 52 | float vel; |
benkatz | 22:60276ba87ac6 | 53 | if(modPosition<.1f && oldModPosition>6.1f){ |
benkatz | 22:60276ba87ac6 | 54 | vel = (modPosition - oldModPosition + 6.28318530718f)*40000.0f; |
benkatz | 22:60276ba87ac6 | 55 | } |
benkatz | 22:60276ba87ac6 | 56 | else if(modPosition>6.1f && oldModPosition<0.1f){ |
benkatz | 22:60276ba87ac6 | 57 | vel = (modPosition - oldModPosition - 6.28318530718f)*40000.0f; |
benkatz | 22:60276ba87ac6 | 58 | } |
benkatz | 22:60276ba87ac6 | 59 | else{ |
benkatz | 22:60276ba87ac6 | 60 | vel = (modPosition-oldModPosition)*40000.0f; |
benkatz | 22:60276ba87ac6 | 61 | } |
benkatz | 22:60276ba87ac6 | 62 | |
benkatz | 22:60276ba87ac6 | 63 | int n = 16; |
benkatz | 22:60276ba87ac6 | 64 | float sum = vel; |
benkatz | 22:60276ba87ac6 | 65 | for (int i = 1; i < (n); i++){ |
benkatz | 22:60276ba87ac6 | 66 | velVec[n - i] = velVec[n-i-1]; |
benkatz | 22:60276ba87ac6 | 67 | sum += velVec[n-i]; |
benkatz | 22:60276ba87ac6 | 68 | } |
benkatz | 22:60276ba87ac6 | 69 | velVec[0] = vel; |
benkatz | 22:60276ba87ac6 | 70 | MechVelocity = sum/(float)n; |
benkatz | 22:60276ba87ac6 | 71 | ElecVelocity = MechVelocity*_ppairs; |
benkatz | 14:80ce59119d93 | 72 | } |
benkatz | 8:10ae7bc88d6e | 73 | |
benkatz | 14:80ce59119d93 | 74 | int PositionSensorAM5147::GetRawPosition(){ |
benkatz | 22:60276ba87ac6 | 75 | return raw; |
benkatz | 14:80ce59119d93 | 76 | } |
benkatz | 14:80ce59119d93 | 77 | |
benkatz | 14:80ce59119d93 | 78 | float PositionSensorAM5147::GetMechPosition(){ |
benkatz | 14:80ce59119d93 | 79 | return MechPosition; |
benkatz | 14:80ce59119d93 | 80 | } |
benkatz | 14:80ce59119d93 | 81 | |
benkatz | 14:80ce59119d93 | 82 | float PositionSensorAM5147::GetElecPosition(){ |
benkatz | 22:60276ba87ac6 | 83 | return ElecPosition; |
benkatz | 14:80ce59119d93 | 84 | } |
benkatz | 14:80ce59119d93 | 85 | |
benkatz | 14:80ce59119d93 | 86 | float PositionSensorAM5147::GetMechVelocity(){ |
benkatz | 22:60276ba87ac6 | 87 | return MechVelocity; |
benkatz | 14:80ce59119d93 | 88 | } |
benkatz | 14:80ce59119d93 | 89 | |
benkatz | 14:80ce59119d93 | 90 | void PositionSensorAM5147::ZeroPosition(){ |
benkatz | 14:80ce59119d93 | 91 | rotations = 0; |
benkatz | 14:80ce59119d93 | 92 | MechOffset = GetMechPosition(); |
benkatz | 14:80ce59119d93 | 93 | } |
benkatz | 0:4e1c4df6aabd | 94 | |
benkatz | 22:60276ba87ac6 | 95 | void PositionSensorAM5147::SetElecOffset(float offset){ |
benkatz | 22:60276ba87ac6 | 96 | ElecOffset = offset; |
benkatz | 22:60276ba87ac6 | 97 | } |
benkatz | 22:60276ba87ac6 | 98 | |
benkatz | 22:60276ba87ac6 | 99 | int PositionSensorAM5147::GetCPR(){ |
benkatz | 22:60276ba87ac6 | 100 | return _CPR; |
benkatz | 22:60276ba87ac6 | 101 | } |
benkatz | 22:60276ba87ac6 | 102 | |
benkatz | 22:60276ba87ac6 | 103 | |
benkatz | 22:60276ba87ac6 | 104 | void PositionSensorAM5147::WriteLUT(int new_lut[128]){ |
benkatz | 22:60276ba87ac6 | 105 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
benkatz | 22:60276ba87ac6 | 106 | } |
benkatz | 20:bf9ea5125d52 | 107 | |
benkatz | 22:60276ba87ac6 | 108 | |
benkatz | 10:370851e6e132 | 109 | PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) { |
benkatz | 10:370851e6e132 | 110 | _ppairs = ppairs; |
benkatz | 0:4e1c4df6aabd | 111 | _CPR = CPR; |
benkatz | 0:4e1c4df6aabd | 112 | _offset = offset; |
benkatz | 3:6a0015d88d06 | 113 | MechPosition = 0; |
benkatz | 22:60276ba87ac6 | 114 | out_old = 0; |
benkatz | 22:60276ba87ac6 | 115 | oldVel = 0; |
benkatz | 22:60276ba87ac6 | 116 | raw = 0; |
benkatz | 0:4e1c4df6aabd | 117 | |
benkatz | 0:4e1c4df6aabd | 118 | // Enable clock for GPIOA |
benkatz | 0:4e1c4df6aabd | 119 | __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
benkatz | 0:4e1c4df6aabd | 120 | |
benkatz | 0:4e1c4df6aabd | 121 | GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
benkatz | 0:4e1c4df6aabd | 122 | GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
benkatz | 0:4e1c4df6aabd | 123 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
benkatz | 0:4e1c4df6aabd | 124 | GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
benkatz | 0:4e1c4df6aabd | 125 | GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
benkatz | 0:4e1c4df6aabd | 126 | GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
benkatz | 0:4e1c4df6aabd | 127 | |
benkatz | 0:4e1c4df6aabd | 128 | // configure TIM3 as Encoder input |
benkatz | 0:4e1c4df6aabd | 129 | // Enable clock for TIM3 |
benkatz | 0:4e1c4df6aabd | 130 | __TIM3_CLK_ENABLE(); |
benkatz | 0:4e1c4df6aabd | 131 | |
benkatz | 22:60276ba87ac6 | 132 | TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
benkatz | 22:60276ba87ac6 | 133 | TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
benkatz | 22:60276ba87ac6 | 134 | TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering |
benkatz | 22:60276ba87ac6 | 135 | TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
benkatz | 22:60276ba87ac6 | 136 | TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
benkatz | 22:60276ba87ac6 | 137 | TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
benkatz | 22:60276ba87ac6 | 138 | TIM3->ARR = CPR; // IM auto-reload register |
benkatz | 0:4e1c4df6aabd | 139 | |
benkatz | 7:dc5f27756e02 | 140 | TIM3->CNT = 0x000; //reset the counter before we use it |
benkatz | 0:4e1c4df6aabd | 141 | |
benkatz | 3:6a0015d88d06 | 142 | // Extra Timer for velocity measurement |
benkatz | 9:d7eb815cb057 | 143 | |
benkatz | 3:6a0015d88d06 | 144 | __TIM2_CLK_ENABLE(); |
benkatz | 22:60276ba87ac6 | 145 | TIM3->CR2 = 0x030; //MMS = 101 |
benkatz | 3:6a0015d88d06 | 146 | |
benkatz | 3:6a0015d88d06 | 147 | TIM2->PSC = 0x03; |
benkatz | 3:6a0015d88d06 | 148 | //TIM2->CR2 |= TIM_CR2_TI1S; |
benkatz | 22:60276ba87ac6 | 149 | TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) |
benkatz | 22:60276ba87ac6 | 150 | TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC |
benkatz | 3:6a0015d88d06 | 151 | |
benkatz | 3:6a0015d88d06 | 152 | //TIM2->CR2 |= TIM_CR2_TI1S; |
benkatz | 3:6a0015d88d06 | 153 | TIM2->CCER |= TIM_CCER_CC1P; |
benkatz | 3:6a0015d88d06 | 154 | //TIM2->CCER |= TIM_CCER_CC1NP; |
benkatz | 3:6a0015d88d06 | 155 | TIM2->CCER |= TIM_CCER_CC1E; |
benkatz | 3:6a0015d88d06 | 156 | |
benkatz | 3:6a0015d88d06 | 157 | |
benkatz | 22:60276ba87ac6 | 158 | TIM2->CR1 = 0x01; //CEN, enable timer |
benkatz | 9:d7eb815cb057 | 159 | |
benkatz | 22:60276ba87ac6 | 160 | TIM3->CR1 = 0x01; // CEN |
benkatz | 8:10ae7bc88d6e | 161 | ZPulse = new InterruptIn(PC_4); |
benkatz | 8:10ae7bc88d6e | 162 | ZSense = new DigitalIn(PC_4); |
benkatz | 8:10ae7bc88d6e | 163 | //ZPulse = new InterruptIn(PB_0); |
benkatz | 8:10ae7bc88d6e | 164 | //ZSense = new DigitalIn(PB_0); |
benkatz | 0:4e1c4df6aabd | 165 | ZPulse->enable_irq(); |
benkatz | 0:4e1c4df6aabd | 166 | ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
benkatz | 7:dc5f27756e02 | 167 | //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); |
benkatz | 0:4e1c4df6aabd | 168 | ZPulse->mode(PullDown); |
benkatz | 7:dc5f27756e02 | 169 | flag = 0; |
benkatz | 0:4e1c4df6aabd | 170 | |
benkatz | 0:4e1c4df6aabd | 171 | |
benkatz | 1:b8bceb4daed5 | 172 | //ZTest = new DigitalOut(PC_2); |
benkatz | 1:b8bceb4daed5 | 173 | //ZTest->write(1); |
benkatz | 22:60276ba87ac6 | 174 | } |
benkatz | 0:4e1c4df6aabd | 175 | |
benkatz | 22:60276ba87ac6 | 176 | void PositionSensorEncoder::Sample(){ |
benkatz | 0:4e1c4df6aabd | 177 | |
benkatz | 22:60276ba87ac6 | 178 | } |
benkatz | 22:60276ba87ac6 | 179 | |
benkatz | 0:4e1c4df6aabd | 180 | |
benkatz | 22:60276ba87ac6 | 181 | float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. |
benkatz | 8:10ae7bc88d6e | 182 | int raw = TIM3->CNT; |
benkatz | 7:dc5f27756e02 | 183 | float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); |
benkatz | 7:dc5f27756e02 | 184 | return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; |
benkatz | 0:4e1c4df6aabd | 185 | } |
benkatz | 0:4e1c4df6aabd | 186 | |
benkatz | 22:60276ba87ac6 | 187 | float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. |
benkatz | 7:dc5f27756e02 | 188 | int raw = TIM3->CNT; |
benkatz | 10:370851e6e132 | 189 | float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset; |
benkatz | 8:10ae7bc88d6e | 190 | if(elec < 0) elec += 6.28318530718f; |
benkatz | 8:10ae7bc88d6e | 191 | return elec; |
benkatz | 0:4e1c4df6aabd | 192 | } |
benkatz | 0:4e1c4df6aabd | 193 | |
benkatz | 13:a3fa0a31b114 | 194 | |
benkatz | 3:6a0015d88d06 | 195 | |
benkatz | 3:6a0015d88d06 | 196 | float PositionSensorEncoder::GetMechVelocity(){ |
benkatz | 22:60276ba87ac6 | 197 | |
benkatz | 9:d7eb815cb057 | 198 | float out = 0; |
benkatz | 3:6a0015d88d06 | 199 | float rawPeriod = TIM2->CCR1; //Clock Ticks |
benkatz | 22:60276ba87ac6 | 200 | int currentTime = TIM2->CNT; |
benkatz | 22:60276ba87ac6 | 201 | if(currentTime > 2000000){rawPeriod = currentTime;} |
benkatz | 3:6a0015d88d06 | 202 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 |
benkatz | 22:60276ba87ac6 | 203 | float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
benkatz | 22:60276ba87ac6 | 204 | if(isinf(meas)){ meas = 1;} |
benkatz | 11:c83b18d41e54 | 205 | out = meas; |
benkatz | 22:60276ba87ac6 | 206 | //if(meas == oldVel){ |
benkatz | 22:60276ba87ac6 | 207 | // out = .9f*out_old; |
benkatz | 22:60276ba87ac6 | 208 | // } |
benkatz | 22:60276ba87ac6 | 209 | |
benkatz | 22:60276ba87ac6 | 210 | |
benkatz | 22:60276ba87ac6 | 211 | oldVel = meas; |
benkatz | 22:60276ba87ac6 | 212 | out_old = out; |
benkatz | 22:60276ba87ac6 | 213 | int n = 16; |
benkatz | 22:60276ba87ac6 | 214 | float sum = out; |
benkatz | 22:60276ba87ac6 | 215 | for (int i = 1; i < (n); i++){ |
benkatz | 22:60276ba87ac6 | 216 | velVec[n - i] = velVec[n-i-1]; |
benkatz | 22:60276ba87ac6 | 217 | sum += velVec[n-i]; |
benkatz | 9:d7eb815cb057 | 218 | } |
benkatz | 22:60276ba87ac6 | 219 | velVec[0] = out; |
benkatz | 22:60276ba87ac6 | 220 | return sum/(float)n; |
benkatz | 3:6a0015d88d06 | 221 | } |
benkatz | 13:a3fa0a31b114 | 222 | |
benkatz | 13:a3fa0a31b114 | 223 | float PositionSensorEncoder::GetElecVelocity(){ |
benkatz | 13:a3fa0a31b114 | 224 | return _ppairs*GetMechVelocity(); |
benkatz | 13:a3fa0a31b114 | 225 | } |
benkatz | 13:a3fa0a31b114 | 226 | |
benkatz | 0:4e1c4df6aabd | 227 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
benkatz | 7:dc5f27756e02 | 228 | if (ZSense->read() == 1 & flag == 0){ |
benkatz | 0:4e1c4df6aabd | 229 | if (ZSense->read() == 1){ |
benkatz | 8:10ae7bc88d6e | 230 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 231 | TIM3->CNT = 0x000; |
benkatz | 1:b8bceb4daed5 | 232 | //state = !state; |
benkatz | 1:b8bceb4daed5 | 233 | //ZTest->write(state); |
benkatz | 7:dc5f27756e02 | 234 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 235 | //flag = 1; |
benkatz | 7:dc5f27756e02 | 236 | } |
benkatz | 7:dc5f27756e02 | 237 | } |
benkatz | 7:dc5f27756e02 | 238 | } |
benkatz | 22:60276ba87ac6 | 239 | |
benkatz | 22:60276ba87ac6 | 240 | void PositionSensorEncoder::ZeroPosition(void){ |
benkatz | 22:60276ba87ac6 | 241 | |
benkatz | 22:60276ba87ac6 | 242 | } |
benkatz | 7:dc5f27756e02 | 243 | |
benkatz | 7:dc5f27756e02 | 244 | void PositionSensorEncoder::ZeroEncoderCountDown(void){ |
benkatz | 7:dc5f27756e02 | 245 | if (ZSense->read() == 0){ |
benkatz | 7:dc5f27756e02 | 246 | if (ZSense->read() == 0){ |
benkatz | 7:dc5f27756e02 | 247 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 248 | flag = 0; |
benkatz | 7:dc5f27756e02 | 249 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; |
benkatz | 7:dc5f27756e02 | 250 | if(dir != dir){ |
benkatz | 7:dc5f27756e02 | 251 | dir = dir; |
benkatz | 7:dc5f27756e02 | 252 | rotations += dir; |
benkatz | 7:dc5f27756e02 | 253 | } |
benkatz | 7:dc5f27756e02 | 254 | |
benkatz | 7:dc5f27756e02 | 255 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 256 | |
benkatz | 0:4e1c4df6aabd | 257 | } |
benkatz | 0:4e1c4df6aabd | 258 | } |
benkatz | 22:60276ba87ac6 | 259 | } |
benkatz | 22:60276ba87ac6 | 260 | void PositionSensorEncoder::SetElecOffset(float offset){ |
benkatz | 22:60276ba87ac6 | 261 | |
benkatz | 22:60276ba87ac6 | 262 | } |
benkatz | 22:60276ba87ac6 | 263 | |
benkatz | 22:60276ba87ac6 | 264 | int PositionSensorEncoder::GetRawPosition(void){ |
benkatz | 22:60276ba87ac6 | 265 | return 0; |
benkatz | 22:60276ba87ac6 | 266 | } |
benkatz | 22:60276ba87ac6 | 267 | |
benkatz | 22:60276ba87ac6 | 268 | int PositionSensorEncoder::GetCPR(){ |
benkatz | 22:60276ba87ac6 | 269 | return _CPR; |
benkatz | 22:60276ba87ac6 | 270 | } |
benkatz | 22:60276ba87ac6 | 271 | |
benkatz | 22:60276ba87ac6 | 272 | |
benkatz | 22:60276ba87ac6 | 273 | void PositionSensorEncoder::WriteLUT(int new_lut[128]){ |
benkatz | 22:60276ba87ac6 | 274 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
benkatz | 22:60276ba87ac6 | 275 | } |