v2.3.3 bugfix for velocity calcs

RCMgames · Jun 2, 2024 · 5524da0 · 5524da0
1 parent e7d1fd5
commit 5524da0
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=byte-sized-encoder-decoder
-version=2.2.2
+version=2.2.3
 author=RCM Games <robot.control.modules@gmail.com>
 maintainer=RCM Games <robot.control.modules@gmail.com>
 sentence=communicate over I2C with an encoder reading module

diff --git a/src/byte-sized-encoder-decoder.h b/src/byte-sized-encoder-decoder.h
@@ -187,7 +187,7 @@ class ByteSizedEncoderDecoder {
                 // calculate velocity
                 unsigned long mic = micros();
                 int32_t hundredMicrosSinceLastRead = (mic - lastReadMicros[i]) / 100; // using a time interval of 100 microseconds (won't overflow int32)
-                if (hundredMicrosSinceLastRead > (int32_t)(encoderSlowestInterval[i] * 10) || abs(encoderCount[i] - lastEncoderCount[i]) > encoderEnoughCounts[i]) {
+                if (hundredMicrosSinceLastRead > (int32_t)(encoderSlowestInterval[i] * 10) || abs(encoderCount[i] - lastVelocityEncoderCount[i]) > encoderEnoughCounts[i]) {
                     lastReadMicros[i] = mic;
                     encoderVelocity[i] = (int32_t)10000 * (encoderCount[i] - lastVelocityEncoderCount[i]) / hundredMicrosSinceLastRead;
                     lastVelocityEncoderCount[i] = encoderCount[i];