Diff: serial_connected_mcu.cpp

Revision:

18:111207e201b6

Parent:

17:814679e7b0fc

--- a/serial_connected_mcu.cpp	Mon Aug 08 09:15:56 2016 +0000
+++ b/serial_connected_mcu.cpp	Thu Sep 08 02:27:22 2016 +0000
@@ -7,7 +7,7 @@
     
 serial_connected_mcu* serial_connected_mcu::_instance = NULL;
 
-const float serial_connected_mcu::_sampling_delta_time_usec = 1500.0f;
+const float serial_connected_mcu::_sampling_delta_time_usec = 5000.0f;
 
 const PinName serial_connected_mcu::_servo_pins[] = {
     PB_6,
@@ -76,7 +76,7 @@
 
 void serial_connected_mcu::update() {
     float encoder_values[ENCODER_NUM];
-
+/*
     if (_timer.read_us() > _sampling_delta_time_usec) {
         float t = _timer.read_us();
         for (size_t i = 0; i < ENCODER_NUM; ++i) {
@@ -90,6 +90,12 @@
         }
         _timer.reset();
     }
+  */
+    for (size_t i = 0; i < ENCODER_NUM; ++i) {
+        encoder_values[i] = _encoders[i]->get_counts();
+        //_encoders_speed[i] = encoder_values[i] - _prev_encoders_values[i];
+        //_prev_encoders_values[i] = encoder_values[i];
+    }
     
     _slave.set(ENCODER_SPEED1, _encoders_speed[0]);
     _slave.set(ENCODER_SPEED2, _encoders_speed[1]);