hongwei liu / HKC_MiniCheetah

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@57:f3336e9eb1f2, 2021-09-22 (annotated)

Committer:
monkey61
Date:
Wed Sep 22 08:36:54 2021 +0000
Revision:
57:f3336e9eb1f2
Parent:
56:fe5056ac6740 
An error upload function is added, which is also used for backup. Later changes may be large

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1
benkatz 0:4e1c4df6aabd 2 #include "mbed.h"
benkatz 0:4e1c4df6aabd 3 #include "PositionSensor.h"
benkatz 47:e1196a851f76 4 #include "../math_ops.h"
benkatz 22:60276ba87ac6 5 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 6 //#include <math.h>
benkatz 0:4e1c4df6aabd 7
benkatz 14:80ce59119d93 8 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 9 //_CPR = CPR;
benkatz 14:80ce59119d93 10 _CPR = CPR;
benkatz 14:80ce59119d93 11 _ppairs = ppairs;
benkatz 22:60276ba87ac6 12 ElecOffset = offset;
benkatz 14:80ce59119d93 13 rotations = 0;
benkatz 14:80ce59119d93 14 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 15 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 16 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 17
benkatz 14:80ce59119d93 18 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 19 cs->write(1);
benkatz 22:60276ba87ac6 20 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 21 MechOffset = offset;
benkatz 22:60276ba87ac6 22 modPosition = 0;
benkatz 22:60276ba87ac6 23 oldModPosition = 0;
benkatz 22:60276ba87ac6 24 oldVel = 0;
benkatz 22:60276ba87ac6 25 raw = 0;
benkatz 56:fe5056ac6740 26 first_sample = 0;
benkatz 56:fe5056ac6740 27 for(int i = 0; i<100; i++) // Initial measurement is really noisy
benkatz 56:fe5056ac6740 28 {
benkatz 56:fe5056ac6740 29 spi->write(0);
benkatz 56:fe5056ac6740 30 wait_us(100);
benkatz 56:fe5056ac6740 31 }
benkatz 56:fe5056ac6740 32
benkatz 22:60276ba87ac6 33 }
benkatz 22:60276ba87ac6 34
benkatz 47:e1196a851f76 35 void PositionSensorAM5147::Sample(float dt){
benkatz 46:2d4b1dafcfe3 36 GPIOA->ODR &= ~(1 << 15);
benkatz 47:e1196a851f76 37 //raw = spi->write(readAngleCmd);
benkatz 47:e1196a851f76 38 //raw &= 0x3FFF;
benkatz 47:e1196a851f76 39 raw = spi->write(0);
benkatz 48:74a40481740c 40 raw = raw>>2; //Extract last 14 bits
monkey61 57:f3336e9eb1f2 41 //raw &= 0x7FFF;
monkey61 57:f3336e9eb1f2 42 //raw = raw>>1;
benkatz 46:2d4b1dafcfe3 43 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 44 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 45 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 46 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 47 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 56:fe5056ac6740 48
benkatz 56:fe5056ac6740 49 if(first_sample){
benkatz 56:fe5056ac6740 50 if(angle - old_counts > _CPR/2){
benkatz 56:fe5056ac6740 51 rotations -= 1;
benkatz 56:fe5056ac6740 52 }
benkatz 56:fe5056ac6740 53 else if (angle - old_counts < -_CPR/2){
benkatz 56:fe5056ac6740 54 rotations += 1;
benkatz 56:fe5056ac6740 55 }
benkatz 56:fe5056ac6740 56 }
benkatz 56:fe5056ac6740 57 if(!first_sample){first_sample = 1;}
benkatz 22:60276ba87ac6 58
benkatz 22:60276ba87ac6 59 old_counts = angle;
benkatz 22:60276ba87ac6 60 oldModPosition = modPosition;
benkatz 46:2d4b1dafcfe3 61 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 46:2d4b1dafcfe3 62 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 63 MechPosition = position - MechOffset;
benkatz 46:2d4b1dafcfe3 64 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 46:2d4b1dafcfe3 65 if(elec < 0) elec += 2.0f*PI;
benkatz 46:2d4b1dafcfe3 66 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 67 ElecPosition = elec;
benkatz 22:60276ba87ac6 68
benkatz 22:60276ba87ac6 69 float vel;
benkatz 46:2d4b1dafcfe3 70 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 47:e1196a851f76 71
benkatz 46:2d4b1dafcfe3 72 if((modPosition-oldModPosition) < -3.0f){
benkatz 47:e1196a851f76 73 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 74 }
benkatz 46:2d4b1dafcfe3 75 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 46:2d4b1dafcfe3 76 else if((modPosition - oldModPosition) > 3.0f){
benkatz 47:e1196a851f76 77 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 78 }
benkatz 22:60276ba87ac6 79 else{
benkatz 47:e1196a851f76 80 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 81 }
benkatz 22:60276ba87ac6 82
benkatz 35:69b24894c11d 83 int n = 40;
benkatz 22:60276ba87ac6 84 float sum = vel;
benkatz 22:60276ba87ac6 85 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 86 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 87 sum += velVec[n-i];
benkatz 22:60276ba87ac6 88 }
benkatz 22:60276ba87ac6 89 velVec[0] = vel;
benkatz 46:2d4b1dafcfe3 90 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 91 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 92 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 93 }
benkatz 8:10ae7bc88d6e 94
benkatz 14:80ce59119d93 95 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 96 return raw;
benkatz 14:80ce59119d93 97 }
benkatz 38:67e4e1453a4b 98
benkatz 38:67e4e1453a4b 99 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 100 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 101 }
benkatz 14:80ce59119d93 102
benkatz 14:80ce59119d93 103 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 104 return MechPosition;
benkatz 14:80ce59119d93 105 }
benkatz 14:80ce59119d93 106
benkatz 14:80ce59119d93 107 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 108 return ElecPosition;
benkatz 14:80ce59119d93 109 }
benkatz 14:80ce59119d93 110
benkatz 37:c0f352d6e8e3 111 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 112 return ElecVelocity;
benkatz 37:c0f352d6e8e3 113 }
benkatz 37:c0f352d6e8e3 114
benkatz 14:80ce59119d93 115 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 116 return MechVelocity;
benkatz 14:80ce59119d93 117 }
benkatz 14:80ce59119d93 118
benkatz 14:80ce59119d93 119 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 120 rotations = 0;
benkatz 28:8c7e29f719c5 121 MechOffset = 0;
benkatz 47:e1196a851f76 122 Sample(.00025f);
benkatz 14:80ce59119d93 123 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 124 }
benkatz 0:4e1c4df6aabd 125
benkatz 22:60276ba87ac6 126 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 127 ElecOffset = offset;
benkatz 22:60276ba87ac6 128 }
benkatz 37:c0f352d6e8e3 129 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 130 MechOffset = offset;
benkatz 56:fe5056ac6740 131 first_sample = 0;
benkatz 37:c0f352d6e8e3 132 }
benkatz 22:60276ba87ac6 133
benkatz 22:60276ba87ac6 134 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 135 return _CPR;
benkatz 22:60276ba87ac6 136 }
benkatz 22:60276ba87ac6 137
benkatz 22:60276ba87ac6 138
benkatz 22:60276ba87ac6 139 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 140 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 141 }
benkatz 20:bf9ea5125d52 142
benkatz 22:60276ba87ac6 143
benkatz 37:c0f352d6e8e3 144
benkatz 10:370851e6e132 145 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 146 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 147 _CPR = CPR;
benkatz 0:4e1c4df6aabd 148 _offset = offset;
benkatz 3:6a0015d88d06 149 MechPosition = 0;
benkatz 22:60276ba87ac6 150 out_old = 0;
benkatz 22:60276ba87ac6 151 oldVel = 0;
benkatz 22:60276ba87ac6 152 raw = 0;
benkatz 0:4e1c4df6aabd 153
benkatz 0:4e1c4df6aabd 154 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 155 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 156
benkatz 0:4e1c4df6aabd 157 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 158 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 159 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 160 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 161 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 162 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 163
benkatz 0:4e1c4df6aabd 164 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 165 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 166 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 167
benkatz 22:60276ba87ac6 168 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 169 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 170 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 171 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 172 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 173 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 174 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 175
benkatz 7:dc5f27756e02 176 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 177
benkatz 3:6a0015d88d06 178 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 179
benkatz 3:6a0015d88d06 180 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 181 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 182
benkatz 3:6a0015d88d06 183 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 184 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 185 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 186 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 187
benkatz 3:6a0015d88d06 188 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 189 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 190 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 191 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 192
benkatz 3:6a0015d88d06 193
benkatz 22:60276ba87ac6 194 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 195
benkatz 22:60276ba87ac6 196 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 197 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 198 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 199 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 200 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 201 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 202 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 203 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 204 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 205 flag = 0;
benkatz 0:4e1c4df6aabd 206
benkatz 0:4e1c4df6aabd 207
benkatz 1:b8bceb4daed5 208 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 209 //ZTest->write(1);
benkatz 22:60276ba87ac6 210 }
benkatz 0:4e1c4df6aabd 211
benkatz 47:e1196a851f76 212 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 213
benkatz 22:60276ba87ac6 214 }
benkatz 22:60276ba87ac6 215
benkatz 0:4e1c4df6aabd 216
benkatz 22:60276ba87ac6 217 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 218 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 219 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 220 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 221 }
benkatz 0:4e1c4df6aabd 222
benkatz 22:60276ba87ac6 223 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 224 int raw = TIM3->CNT;
benkatz 10:370851e6e132 225 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 226 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 227 return elec;
benkatz 0:4e1c4df6aabd 228 }
benkatz 0:4e1c4df6aabd 229
benkatz 13:a3fa0a31b114 230
benkatz 3:6a0015d88d06 231
benkatz 3:6a0015d88d06 232 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 233
benkatz 9:d7eb815cb057 234 float out = 0;
benkatz 3:6a0015d88d06 235 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 236 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 237 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 238 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 239 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 240 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 241 out = meas;
benkatz 22:60276ba87ac6 242 //if(meas == oldVel){
benkatz 22:60276ba87ac6 243 // out = .9f*out_old;
benkatz 22:60276ba87ac6 244 // }
benkatz 22:60276ba87ac6 245
benkatz 22:60276ba87ac6 246
benkatz 22:60276ba87ac6 247 oldVel = meas;
benkatz 22:60276ba87ac6 248 out_old = out;
benkatz 22:60276ba87ac6 249 int n = 16;
benkatz 22:60276ba87ac6 250 float sum = out;
benkatz 22:60276ba87ac6 251 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 252 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 253 sum += velVec[n-i];
benkatz 9:d7eb815cb057 254 }
benkatz 22:60276ba87ac6 255 velVec[0] = out;
benkatz 22:60276ba87ac6 256 return sum/(float)n;
benkatz 3:6a0015d88d06 257 }
benkatz 13:a3fa0a31b114 258
benkatz 13:a3fa0a31b114 259 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 260 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 261 }
benkatz 13:a3fa0a31b114 262
benkatz 0:4e1c4df6aabd 263 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 264 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 265 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 266 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 267 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 268 //state = !state;
benkatz 1:b8bceb4daed5 269 //ZTest->write(state);
benkatz 7:dc5f27756e02 270 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 271 //flag = 1;
benkatz 7:dc5f27756e02 272 }
benkatz 7:dc5f27756e02 273 }
benkatz 7:dc5f27756e02 274 }
benkatz 22:60276ba87ac6 275
benkatz 22:60276ba87ac6 276 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 277
benkatz 22:60276ba87ac6 278 }
benkatz 7:dc5f27756e02 279
benkatz 7:dc5f27756e02 280 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 281 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 282 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 283 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 284 flag = 0;
benkatz 7:dc5f27756e02 285 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 286 if(dir != dir){
benkatz 7:dc5f27756e02 287 dir = dir;
benkatz 7:dc5f27756e02 288 rotations += dir;
benkatz 7:dc5f27756e02 289 }
benkatz 7:dc5f27756e02 290
benkatz 7:dc5f27756e02 291 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 292
benkatz 0:4e1c4df6aabd 293 }
benkatz 0:4e1c4df6aabd 294 }
benkatz 22:60276ba87ac6 295 }
benkatz 22:60276ba87ac6 296 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 297
benkatz 22:60276ba87ac6 298 }
benkatz 22:60276ba87ac6 299
benkatz 22:60276ba87ac6 300 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 301 return 0;
benkatz 22:60276ba87ac6 302 }
benkatz 22:60276ba87ac6 303
benkatz 22:60276ba87ac6 304 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 305 return _CPR;
benkatz 22:60276ba87ac6 306 }
benkatz 22:60276ba87ac6 307
benkatz 22:60276ba87ac6 308
benkatz 22:60276ba87ac6 309 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 310 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 311 }