Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Revision:
47:55bdc4d5096b
Parent:
45:aadebe074af6
Child:
48:1b51771c3647
--- a/PositionSensor/PositionSensor.cpp	Mon Jul 30 20:33:23 2018 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sat Dec 07 08:01:06 2019 +0000
@@ -28,7 +28,10 @@
 void PositionSensorAM5147::Sample(float dt){
     GPIOA->ODR &= ~(1 << 15);
     raw = spi->write(readAngleCmd);
-    raw &= 0x3FFF;                                                              //Extract last 14 bits
+    raw &= 0x3FFF;   
+    //raw = spi->write(0);
+    //raw = raw>>1;                                                             //Extract last 14 bits
+    //raw = raw>>2;                                                             //Extract last 14 bits
     GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];