Revision 1371
Remove some unused code in encoders
Also update binary and docs
| encoders.c | ||
|---|---|---|
| 19 | 19 |
int right_dx; |
| 20 | 20 |
long int timecount; |
| 21 | 21 |
|
| 22 |
int left_v; |
|
| 23 |
int right_v; |
|
| 24 |
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| 25 |
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| 26 | 22 |
volatile short int data_ready; |
| 27 | 23 |
|
| 28 | 24 |
void encoder_recv(char data); |
| ... | ... | |
| 61 | 57 |
left_data = -1; |
| 62 | 58 |
right_data = -1; |
| 63 | 59 |
|
| 64 |
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|
| 65 |
left_v=0; |
|
| 66 |
right_v=0; |
|
| 67 |
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|
| 68 | 60 |
//RING_BUFFER_INIT(enc_buffer,BUFFER_SIZE); |
| 69 | 61 |
left_data_idx = 0; |
| 70 | 62 |
right_data_idx = 0; |
| ... | ... | |
| 203 | 195 |
//Adjust left accumulator |
| 204 | 196 |
dx = left_data - left_data_array_prev(); |
| 205 | 197 |
|
| 206 |
//Adjust velocity: save last dx |
|
| 207 |
left_v = left_dx; |
|
| 208 |
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| 209 | 198 |
if(left_data_array_prev()==0) dx=0; |
| 210 | 199 |
|
| 211 | 200 |
if(dx > 512) left_dx += dx - 1023; //Underflow |
| 212 | 201 |
else if(dx < -512) left_dx += dx + 1023; //Overflow |
| 213 | 202 |
else left_dx += dx; |
| 214 |
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//Adjust velocity: update |
|
| 216 |
left_v = left_dx - left_v; |
|
| 217 | 203 |
} |
| 218 | 204 |
|
| 219 | 205 |
/*Above 1023 is invalid data*/ |
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