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authorschodet2004-11-28 21:03:15 +0000
committerschodet2004-11-28 21:03:15 +0000
commitdc5e9a8ab529223d5c32e5d803b4516a28da9586 (patch)
tree3d47b4b80aa015e15274a3912cf04ce641b2b3f1 /n/asserv/src/counter.c
parentfa8ff2dec76b1b366207a126dfc360331510c50d (diff)
Test du calcul de position et modification pour les grandes vitesses (non
testé). Modification de commentaires, vérification d'exactitude de calcul, notament sur les nombres de bits, prise en compte de la vitesse max des moteurs.
Diffstat (limited to 'n/asserv/src/counter.c')
-rw-r--r--n/asserv/src/counter.c3
1 files changed, 2 insertions, 1 deletions
diff --git a/n/asserv/src/counter.c b/n/asserv/src/counter.c
index cfdf2e6..46dc05a 100644
--- a/n/asserv/src/counter.c
+++ b/n/asserv/src/counter.c
@@ -30,7 +30,8 @@ static uint8_t counter_left_frw, counter_left_rev,
static uint8_t counter_left_old, counter_right_old;
/** Overall counter values. */
static uint16_t counter_left, counter_right;
-/** Counter differences since last update. */
+/** Counter differences since last update.
+ * Maximum of 9 significant bits, sign included. */
static int16_t counter_left_diff, counter_right_diff;
/* +AutoDec */