Tristan Vlogman / errorFetch

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Dependents:   locomotion_pid_action_refactor_EMG

Files at this revision

API Documentation at this revision

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

errorFetch.cpp Show annotated file Show diff for this revision Revisions of this file
errorFetch.h Show annotated file Show diff for this revision Revisions of this file 
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;
     

diff -r 71a7dd98fb2c -r 2af658a4e54b errorFetch.h
--- 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;