N K / Mbed 2 deprecated WangBoard_MotorScience

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Dependencies:   FastPWM mbed

Fork of foc-ed_in_the_bot_compact by N K

Diff: PositionSensor/PositionSensor.cpp

Revision:
7:caebf421f288
Parent:
2:eabe8feaaabb
Child:
8:70122bad5f90
--- a/PositionSensor/PositionSensor.cpp	Fri Mar 18 12:07:14 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Wed Mar 30 06:50:11 2016 +0000
@@ -73,7 +73,7 @@
     int raw = TIM2->CNT;
     if (raw < 0) raw += _CPR;
     if (raw >= _CPR) raw -= _CPR;
-    float signed_elec = fmod((2.0f * (6.28318530718f * (raw) / (float)_CPR + _offset)), 6.28318530718f);
+    float signed_elec = fmod((10.0f * (6.28318530718f * (raw) / (float)_CPR + _offset)), 6.28318530718f);
     if (signed_elec < 0) {
         return signed_elec + 6.28318530718f;
     } else {
@@ -84,7 +84,9 @@
 void PositionSensorEncoder::ZeroEncoderCount(void){
     if (ZSense->read() == 1){
         if (ZSense->read() == 1){
+            ZTest->write(state);
             TIM2->CNT=0;
+            state = !state;
         }
     }
 }
\ No newline at end of file