From db676cead54109f6fbe2d2a97c8eb455f6f4211b Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sun, 21 Oct 2018 17:04:24 -0700 Subject: [PATCH] fix units comment in encoder.hpp --- Firmware/MotorControl/encoder.hpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp index 6eca0536..27ba284b 100644 --- a/Firmware/MotorControl/encoder.hpp +++ b/Firmware/MotorControl/encoder.hpp @@ -68,12 +68,12 @@ public: int32_t shadow_count_ = 0; int32_t count_in_cpr_ = 0; float interpolation_ = 0.0f; - float phase_ = 0.0f; // [rad] - float pos_estimate_ = 0.0f; // [rad] - float pos_cpr_ = 0.0f; // [rad] - float vel_estimate_ = 0.0f; // [rad/s] - float pll_kp_ = 0.0f; // [rad/s / rad] - float pll_ki_ = 0.0f; // [(rad/s^2) / rad] + float phase_ = 0.0f; // [count] + float pos_estimate_ = 0.0f; // [count] + float pos_cpr_ = 0.0f; // [count] + float vel_estimate_ = 0.0f; // [count/s] + float pll_kp_ = 0.0f; // [count/s / count] + float pll_ki_ = 0.0f; // [(count/s^2) / count] // Updated by low_level pwm_adc_cb uint8_t hall_state_ = 0x0; // bit[0] = HallA, .., bit[2] = HallC