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updated firmware

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This commit is contained in:
0x23 2025-08-28 14:07:54 +02:00
parent 9891b8ed44
commit f17ca0c820
11 changed files with 273 additions and 56 deletions
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6
firmware/MotionControllerRP/src/hardware/MT6835_encoder.cpp
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@ -46,7 +46,7 @@ float MT6835Encoder::read_abs_angle() {
return raw_angle * RAW_TO_ANGLE;
}
int32_t MT6835Encoder::read_abs_angle_raw() {
MT6835Encoder::AbsRawAngleType MT6835Encoder::read_abs_angle_raw() {
uint8_t data[6] = {0};
data[0] = MT6835_OP_ANGLE << 4;
data[1] = MT6835_REG_ANGLE1;
@ -70,6 +70,10 @@ int32_t MT6835Encoder::read_abs_angle_raw() {
return update_abs_raw_angle(raw_angle);
}
MT6835Encoder::AbsRawAngleType MT6835Encoder::get_last_abs_raw_angle() {
return abs_raw_angle;
}
int32_t MT6835Encoder::get_rawcounts_per_rev() {
return MT6835_CPR;
}