compAIR/compLIB
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Fixed encoder overflow

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This commit is contained in:
Konstantin Lampalzer 2021-09-05 11:11:53 +01:00
parent 3e7df14da8
commit 74f0f42d2f
1 changed files with 5 additions and 1 deletions
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6
compLib/Encoder.py
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@ -44,7 +44,11 @@ class Encoder(object):
if port <= 0 or port > MOTOR_COUNT: if port <= 0 or port > MOTOR_COUNT:
raise IndexError("Invalid encoder port specified!") raise IndexError("Invalid encoder port specified!")
return Encoder.read_raw(port) - encoder_start_values[port] diff = Encoder.read_raw(port) - encoder_start_values[port]
if diff > 2 ** 31:
diff -= 2 ** 32
return diff
@staticmethod @staticmethod
def clear(port: int): def clear(port: int):