Patrick Wensing / QEI_pmw

QEI library with velocity implementation based on time difference between successive encoder counts.

Dependents:   Bezier_Trajectory_Follower Dolphin 2_131TEST Jerby ... more

Diff: QEI.cpp

Revision:
4:58a3c9c9e956
Parent:
0:43b9eeecccc7
--- a/QEI.cpp	Tue Aug 11 20:02:03 2015 +0000
+++ b/QEI.cpp	Wed Sep 23 17:33:09 2015 +0000
@@ -297,8 +297,10 @@
 
 float QEI::getVelocity()
 {
-     if(prevDirection_ != currDirection_ || prevTime_ == currTime_)
-     {
+     int ct = currTime_;
+     int pt = prevTime_;
+     
+     if(prevDirection_ != currDirection_ || pt == ct) {
         return 0;    
      }
      double dt = (currTime_ - prevTime_)/1000000.;