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Merge pull request #563 from luna-cycle/wheel_sensor_odometer 

More wheel speed sensor support
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Benjamin Vedder 2022-11-30 10:20:35 +01:00 committed by GitHub
parent 1d4f33d4df 041e8aa5a4
commit 5efdc870f1
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1 changed files with 4 additions and 0 deletions
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motor/mc_interface.c
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@ -1619,9 +1619,13 @@ float mc_interface_get_distance(void) {
* Absolute distance traveled since boot, in meters
*/
float mc_interface_get_distance_abs(void) {
#ifdef HW_HAS_WHEEL_SPEED_SENSOR
return hw_get_distance_abs();
#else
const volatile mc_configuration *conf = mc_interface_get_configuration();
const float tacho_scale = (conf->si_wheel_diameter * M_PI) / (3.0 * conf->si_motor_poles * conf->si_gear_ratio);
return mc_interface_get_tachometer_abs_value(false) * tacho_scale;
#endif
}
setup_values mc_interface_get_setup_values(void) {