Jesus Fausto / QEI

Quadrature encoder interface library with distance function

Dependents:   QEI_with_distance wheelchaircontrol wheelchaircontrolRos wheelchaircontrol ... more

Fork of QEI by Aaron Berk

Files at this revision

API Documentation at this revision

Revision 2:2a173fdae3ca, committed 2018-08-03

Comitter:
jvfausto
Date:
Fri Aug 03 20:28:47 2018 +0000
Parent:
1:f57640259245
Child:
3:0035b165ecc4
Commit message:
Added distance measurement

Changed in this revision

QEI.cpp Show annotated file Show diff for this revision Revisions of this file
QEI.h Show annotated file Show diff for this revision Revisions of this file 
--- a/QEI.cpp	Wed Jul 25 22:51:54 2018 +0000
+++ b/QEI.cpp	Fri Aug 03 20:28:47 2018 +0000
@@ -277,14 +277,16 @@
 
 float QEI::getRevolutions(){
     if (encoding_ == X2_ENCODING)
-        return (float) ((float)pulses_ /(pulsesPerRev_));
+    {
+        return (float)pulses_ / pulsesPerRev_;
+    }
     else
-        return (float) (pulses_ / 4 * pulsesPerRev_);
+        return (float)pulses_ / (4 * pulsesPerRev_);
 }
 
-float QEI::getDistance(float radius)
+float QEI::getDistance(float diameter)
 {
-    return getRevolutions()*radius*3.1415926*2;
+    return getRevolutions()*diameter*3.1415926;
 }
 
 void QEI::index(void) {

--- a/QEI.h	Wed Jul 25 22:51:54 2018 +0000
+++ b/QEI.h	Fri Aug 03 20:28:47 2018 +0000
@@ -210,7 +210,7 @@
     
     float getRevolutions(void);
 
-    float QEI::getDistance(float radius);
+    float getDistance(float diameter);
 
 private: