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Encodercheck 2-15
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//Check for sporadic encoder values as documented by Cougar Robotics #623 | |
int checkEnc = nMotorEncoder[curMotor]; | |
int curEnc = nMotorEncoder[curMotor]; | |
if (pow > 0) { //we expect encoder value to be changing | |
while (true) { | |
//This can potentially take a long time, so set time limit | |
if ((nPgmTime - encFnStartTimeMs) > 5) { | |
break; | |
} | |
while (curEnc == checkEnc) { //loop until we see a different encoder value | |
//This can also potentially take a long time, so set time limit | |
if ((nPgmTime - encFnStartTimeMs) > 5) { | |
break; | |
} | |
curEnc = nMotorEncoder[curMotor]; | |
} | |
//check to see if the different encoder value is changing correctly | |
if ((sgn(curEnc - checkEnc) == sgn(motor[curMotor])) { | |
break; | |
} else { //changed incorrectly, so repeat check on new encoder | |
checkEnc = curEnc; | |
} | |
} | |
} else { //we expect encoder value to be still | |
//monitor for short period | |
while ((nPgmTime - encFnStartTimeMs) < 5) { | |
curEnc = nMotorEncoder[curMotor]; | |
if (curEnc != checkEnc) { | |
checkEnc = curEnc; //assume latest value is good | |
} | |
} | |
} |
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