初定版本
Dependencies: mbed Hobbyking_Cheetah FastPWM3
Diff: PositionSensor/PositionSensor.h
- Revision:
- 35:69b24894c11d
- Parent:
- 34:51647c6c500d
- Child:
- 37:c0f352d6e8e3
--- a/PositionSensor/PositionSensor.h Wed Nov 08 15:18:18 2017 +0000 +++ b/PositionSensor/PositionSensor.h Sat Nov 18 18:41:42 2017 +0000 @@ -36,7 +36,7 @@ virtual void ZeroEncoderCountDown(void); int _CPR, flag, rotations, _ppairs, raw; //int state; - float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16]; + float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40]; int offset_lut[128]; }; @@ -53,7 +53,7 @@ virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: - float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity, ElecVelocityFilt; + float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; int raw, _CPR, rotations, old_counts, _ppairs; SPI *spi; DigitalOut *cs;