yezhong yezhong / Motor_DRV8323RH_for_2019

11

Dependencies:   mbed-dev-f303 FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Revision:
54:4ce8f97be6ae
Parent:
53:89565c1d9115
--- a/PositionSensor/PositionSensor.cpp	Mon Dec 27 02:47:12 2021 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun Jun 12 12:31:38 2022 +0000
@@ -53,6 +53,9 @@
     modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
     position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
     MechPosition = position - MechOffset; 
+    //////
+    bb=MechPosition;
+    /////
     float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
     if(elec < 0) elec += 2.0f*PI;
     else if(elec > 2.0f*PI) elec -= 2.0f*PI ; 
@@ -114,6 +117,7 @@
     //rotations= quanshu;
     MechOffset = 0;
     //MechOffset = GetMechPosition();
+    //MechOffset =guanjieweizhi;
     Sample(.00025f);
     MechOffset = GetMechPosition();
     }