Changeset 8862 for trunk/MagicSoft/Cosy/devdrv

Timestamp:

02/13/08 19:44:39 (17 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/devdrv

Files:

• shaftencoder.cc (modified) (2 diffs)
• shaftencoder.h (modified) (1 diff)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -278 +278 @@
     // Decode information, we have a 14bit only
     //
-    LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24);
+    LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16) | (data[3]<<24);
 
     fVel = data[4] | (data[5]<<8);
@@ -465 +465 @@
         return;
 
-    fPos  = pre%16384;
-    fTurn = pre/16384;
+    fPos  = pre%fTicks;
+    fTurn = pre/fTicks;
     fDirChangedPos = fPos;
     fOffset = fMotor ? fMotor->GetPdoPos() : 0;

trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

@@ -22 +22 @@
     WORDS_t  fAcc;   // ticks per 25ms^2
     WORDS_t  fTurn;  // Number of turn
-    LWORD_t  fTicks; // Number of ticks per turn
+    LWORD_t  fTicks; // Number of ticks per revolution (resolution)
     WORD_t   fTurns; // Number of possible turns