Diff: locate.h

Revision:

1:10cc86cabdce

Parent:

0:f12d257b587e

--- a/locate.h	Thu Sep 01 05:13:31 2016 +0000
+++ b/locate.h	Thu Sep 01 08:53:14 2016 +0000
@@ -30,7 +30,7 @@
 Serial pc(SERIAL_TX, SERIAL_RX);
 TIM_Encoder_InitTypeDef encoder1, encoder2;
 TIM_HandleTypeDef  timer1,  timer2;
-DigitalOut enc_v(PB_10);
+DigitalOut enc_v(PC_7);
 
 uint16_t count1=0,  count2=0;
 int8_t dir1, dir2;
@@ -72,7 +72,7 @@
     count2=__HAL_TIM_GET_COUNTER(&timer2);
     dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);   
     
-    r = convert_enc_count(count1, dir1);
+    r = -convert_enc_count(count1, dir1);
     l = convert_enc_count(count2, dir2);
         
     theta = (r - l) * ROUND;
@@ -83,8 +83,8 @@
 
     pr = r;
     pl = l;
-    pc.printf("count1:%d%s  count2:%d%s\r\n", count1, dir1==0 ? "+":"-",count2, dir2==0 ? "+":"-");
-    pc.printf("right:%d     left:%d", r, l);
+    //pc.printf("count1:%d%s  count2:%d%s\r\n", count1, dir1==0 ? "+":"-",count2, dir2==0 ? "+":"-");
+    pc.printf("right:%d     left:%d    ", r, l);
 }
 
 short coordinateX()