a
Dependents: wheelchaircontrol wheelchaircontrol2 wheelchaircontrol3 wheelchaircontrol4 ... more
Diff: QEI.cpp
- Revision:
- 1:f57640259245
- Parent:
- 0:5c2ad81551aa
- Child:
- 2:2a173fdae3ca
diff -r 5c2ad81551aa -r f57640259245 QEI.cpp --- a/QEI.cpp Thu Sep 02 16:48:55 2010 +0000 +++ b/QEI.cpp Wed Jul 25 22:51:54 2018 +0000 @@ -185,11 +185,6 @@ } -int QEI::getRevolutions(void) { - - return revolutions_; - -} // +-------------+ // | X2 Encoding | @@ -275,13 +270,23 @@ pulses_ -= change; } - } - prevState_ = currState_; } +float QEI::getRevolutions(){ + if (encoding_ == X2_ENCODING) + return (float) ((float)pulses_ /(pulsesPerRev_)); + else + return (float) (pulses_ / 4 * pulsesPerRev_); +} + +float QEI::getDistance(float radius) +{ + return getRevolutions()*radius*3.1415926*2; +} + void QEI::index(void) { revolutions_++;