Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

Diff: Updater.cpp

Revision:
26:2dc31a801cc8
Parent:
25:b8176ebb96c6
Child:
32:eb673f6f5734
--- a/Updater.cpp	Fri Dec 21 20:38:55 2018 +0000
+++ b/Updater.cpp	Fri Dec 21 21:23:53 2018 +0000
@@ -4,7 +4,7 @@
 
 Updater::Updater() {
     thisTime = 0;
-    lastTime = 0; 
+    lastTime = 0;
     t = new Timer;
     t->start();
     _callback = 0;
@@ -32,9 +32,10 @@
 
     // Compute dt
     thisTime = t->read_us();
-    _dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0
+    _dt = ((float) thisTime - (float) lastTime) / 1000.0;
+    if (lastTime > thisTime) _dt = -_dt; // attempt to fix rollover
     lastTime = thisTime;
-
+    
     // Read encoders
     _ecount += enc.read();