Diff: AMT21.cpp

Revision:

5:b78f031b66f7

Parent:

2:e0164b9fe93a

--- a/AMT21.cpp	Wed Apr 14 12:18:56 2021 +0000
+++ b/AMT21.cpp	Fri Sep 10 08:55:09 2021 +0000
@@ -56,25 +56,34 @@
     receive_mode=RECEIVE_TURN;
     sendMessage();
     wait_us(190);
-    int turn,receive_;
+    int turn_,receive_;
     receive_=((high_turn&0b00111111)<<8)+low_turn;
     if(receive_>th_max&&receive_old<th_min) {//ターン数がアンダーフローしたとき
         flow_count--;
     } else if(receive_<th_min&&receive_old>th_max) { //ターン数がオーバーフローした場合
         flow_count++;
     }
-    turn=receive_+flow_count*RESOLUTION_AMT21;
+    turn_=receive_+flow_count*RESOLUTION_AMT21;
     receive_old=receive_;
-    return turn;
+    return turn_;
 }
-void Amt21::rewriteCount()
+void Amt21::rewriteCount_1()
 {
-    int count,turn;
+    int count,turn_;
     count=getAbCount();
     wait_us(200);
-    turn=getTurn();
-    count_=count+RESOLUTION_AMT21*turn;
+    turn_=getTurn();
+    count_=-(count+RESOLUTION_AMT21*turn_);
 }
+void Amt21::rewriteCount_2()
+{
+    int count,turn_;
+    count=getAbCount();
+    wait_us(200);
+    turn_=getTurn();
+    count_=count+RESOLUTION_AMT21*turn_;
+}
+
 int Amt21::getCount()
 {
     return count_;