Tk A / Locate

fs

Dependents:   ARAI45th 3servotest 1stcomp 3rdcompfixstart ... more

Diff: locate.cpp

Revision:
1:3513a2fbd81f
Parent:
0:265d8ad19d2a
Child:
4:ecbb45e84c08
--- a/locate.cpp	Fri Sep 02 12:40:36 2016 +0000
+++ b/locate.cpp	Sat Sep 03 10:53:09 2016 +0000
@@ -24,6 +24,11 @@
 /*************変数宣言終了******************/
 
 
+
+
+
+
+
 void  update ()
 //位置情報を更新する。r,lはエンコーダから
 {
@@ -33,7 +38,7 @@
     dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);   
     
     r = -convert_enc_count(count1, dir1);
-    l = convert_enc_count(count2, dir2);
+    l = -convert_enc_count(count2, dir2);
         
     theta = (r - l) * ROUND - d_theta;
     v = (r - pr + l - pl);
@@ -60,12 +65,12 @@
     EncoderInit(&encoder2, &timer2, TIM2, 0xffff, TIM_ENCODERMODE_TI12);
 }
 
-short coordinateX()
+int coordinateX()
 {
     return x * LOCATE_STEP / 2;
 }
 
-short coordinateY()
+int coordinateY()
 {
     return y * LOCATE_STEP / 2;
 }