Revision 7:42c478f9a1fe, committed 2019-07-10

Comitter:

kangmingyo

Date:

Wed Jul 10 04:30:47 2019 +0000

Parent:

6:366ec55e64fe

Commit message:

update_velocity v2

Changed in this revision

diff -r 366ec55e64fe -r 42c478f9a1fe motor.cpp
--- a/motor.cpp	Wed Jul 10 04:08:29 2019 +0000
+++ b/motor.cpp	Wed Jul 10 04:30:47 2019 +0000
@@ -187,7 +187,7 @@
 }
 float MotorCtl::CalculateVelocity()
 {
-    return (DeltaCnt*1000.0)*3.14159265359*0.043/(float)(DeltaT*CntPerRev)
+    return getRPM()*3.14159265359*0.043/60;
 }
 
 

diff -r 366ec55e64fe -r 42c478f9a1fe motor.h
--- a/motor.h	Wed Jul 10 04:08:29 2019 +0000
+++ b/motor.h	Wed Jul 10 04:30:47 2019 +0000
@@ -17,7 +17,7 @@
         int getRPM();
         float CalculateCumDis();
         float CalculateRelaDis();
-        float CalculateVelocity()
+        float CalculateVelocity();
         int getTarget();
         int getError();
         float getKP();