sornpraram xu / RMD

RMD-X Motor Library - Last Update V0.5 - On going...... Current available Function - read velocity - read all data - send velocity - send position

Diff: RMD.cpp

Revision:
1:5c31dcbaa375
Parent:
0:433e4ec5de88
Child:
2:d1f33fc9383b
--- a/RMD.cpp	Wed Nov 04 09:20:53 2020 +0000
+++ b/RMD.cpp	Wed Nov 04 09:36:31 2020 +0000
@@ -12,10 +12,8 @@
 
 void RMD::status_velocity(){
     if (read(msg)){
-        int v_high = msg.data[5];
-        int v_low = msg.data[4];
-        v_high = v_high << 8 ;
-        int fv = (v_high + v_low)/6;
+
+        int fv = ((uint16_t)msg.data[5] << 8 + (uint16_t)msg.data[4])/(uint16_t)6;
         
         printf(" Speed : %d\n", fv);
         printf(" Speed high byte: %x\n", msg.data[5]);