Revision 4:2af658a4e54b, committed 2017-10-26

Comitter:

tvlogman

Date:

Thu Oct 26 14:02:01 2017 +0000

Parent:

3:71a7dd98fb2c

Commit message:

changed so it has a seperate fetchMotorPosition function

Changed in this revision

--- 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;
     

--- a/errorFetch.h	Sun Oct 22 08:01:40 2017 +0000
+++ b/errorFetch.h	Thu Oct 26 14:02:01 2017 +0000
@@ -12,7 +12,8 @@
     volatile float e_der;
     volatile float e_prev;
     
-    void fetchError(int counts, float ref); // Gets reference position on specified pin
+    double fetchMotorPosition(int counts);
+    void fetchError(double motorPosition, double ref); // Gets reference position on specified pin
     
 private:
     const float gearRatio;