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@ -127,15 +127,15 @@ ENCODER_DiffState Encoder_ReceiveAnalyze(void) { |
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// if must encoder rati multiplier
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// if must encoder rati multiplier
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if (EncoderRate.encoderRateEnabled) { |
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if (EncoderRate.encoderRateEnabled) { |
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const float abs_diff = ABS(temp_diff); |
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const float abs_diff = ABS(temp_diff), |
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const float encoderMovementSteps = abs_diff / (ENCODER_PULSES_PER_STEP); |
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encoderMovementSteps = abs_diff / (ENCODER_PULSES_PER_STEP); |
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if (EncoderRate.lastEncoderTime) { |
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if (EncoderRate.lastEncoderTime) { |
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// Note that the rate is always calculated between two passes through the
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// Note that the rate is always calculated between two passes through the
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// loop and that the abs of the temp_diff value is tracked.
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// loop and that the abs of the temp_diff value is tracked.
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const float encoderStepRate = encoderMovementSteps / float(ms - EncoderRate.lastEncoderTime) * 1000; |
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const float encoderStepRate = encoderMovementSteps / float(ms - EncoderRate.lastEncoderTime) * 1000; |
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if (encoderStepRate >= ENCODER_100X_STEPS_PER_SEC) encoderMultiplier = 100; |
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if (encoderStepRate >= ENCODER_100X_STEPS_PER_SEC) encoderMultiplier = 100; |
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else if (encoderStepRate >= ENCODER_10X_STEPS_PER_SEC) encoderMultiplier = 10; |
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else if (encoderStepRate >= ENCODER_10X_STEPS_PER_SEC) encoderMultiplier = 10; |
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else if (encoderStepRate >= ENCODER_5X_STEPS_PER_SEC) encoderMultiplier = 5; |
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else if (encoderStepRate >= ENCODER_5X_STEPS_PER_SEC) encoderMultiplier = 5; |
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} |
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} |
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EncoderRate.lastEncoderTime = ms; |
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EncoderRate.lastEncoderTime = ms; |
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} |
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} |
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