Tristan Vlogman
Updates error values
Dependents: locomotion_pid_action_refactor_EMG
Diff: errorFetch.cpp
- Revision:
- 4:2af658a4e54b
- Parent:
- 3:71a7dd98fb2c
diff -r 71a7dd98fb2c -r 2af658a4e54b errorFetch.cpp
--- a/errorFetch.cpp Sun Oct 22 08:01:40 2017 +0000
+++ b/errorFetch.cpp Thu Oct 26 14:02:01 2017 +0000
@@ -7,11 +7,13 @@
errorFetch::errorFetch(float N, float Ts):gearRatio(N), Ts(Ts), e_pos(0), e_int(0), e_der(0), e_prev(0){
}
+
+double errorFetch::fetchMotorPosition(int counts){
+ double motorPosition = 2*3.14*(counts/(gearRatio*64.0f));
+ return motorPosition;
+ }
-void errorFetch::fetchError(int counts, float ref){
- // Calculating motor position based on encoder counts
- double motorPosition = 2*3.14*(counts/(gearRatio*64.0f));
-
+void errorFetch::fetchError(double motorPosition, double ref){
// Computing position error
e_pos = ref - motorPosition;