Reverse encoder counting

Roelemans · Roelemans · commit 0f769defff87 · 2020-08-21T14:33:47.000+02:00
diff --git a/march_hardware/src/odrive/odrive_motor.cpp b/march_hardware/src/odrive/odrive_motor.cpp
@@ -228,7 +228,7 @@ int OdriveMotor::getAngleCountsIncremental()
 
 double OdriveMotor::getAngleRadIncremental()
 {
-  double angle_rad = this->getAngleCountsIncremental() * PI_2 / (std::pow(2, 12) * 101 * -1);
+  double angle_rad = this->getAngleCountsIncremental() * PI_2 / (std::pow(2, 12) * 101);
   return angle_rad;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -228,7 +228,7 @@ int OdriveMotor::getAngleCountsIncremental()`
`228`	`228`
`229`	`229`	`double OdriveMotor::getAngleRadIncremental()`
`230`	`230`	`{`
`231`		`- double angle_rad = this->getAngleCountsIncremental() * PI_2 / (std::pow(2, 12) * 101 * -1);`
	`231`	`+ double angle_rad = this->getAngleCountsIncremental() * PI_2 / (std::pow(2, 12) * 101);`
`232`	`232`	`return angle_rad;`
`233`	`233`	`}`
`234`	`234`