Bugfix: Wrap around handling in the relative encoders is automaticall…

…y applied, no extra algorithm is necessary.
BlueAndi · Nov 3, 2023 · 9788c94 · 9788c94
1 parent 90b962e
commit 9788c94
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Showing 2 changed files with 2 additions and 28 deletions.
diff --git a/lib/Service/RelativeEncoders.cpp b/lib/Service/RelativeEncoders.cpp
@@ -76,12 +76,12 @@ void RelativeEncoders::clearRight()
 
 int16_t RelativeEncoders::getCountsLeft() const
 {
-    return calculate(m_absEncoders.getCountsLeft(), m_referencePointLeft);
+    return m_absEncoders.getCountsLeft() - m_referencePointLeft;
 }
 
 int16_t RelativeEncoders::getCountsRight() const
 {
-    return calculate(m_absEncoders.getCountsRight(), m_referencePointRight);
+    return m_absEncoders.getCountsRight() - m_referencePointRight;
 }
 
 /******************************************************************************
@@ -92,21 +92,6 @@ int16_t RelativeEncoders::getCountsRight() const
  * Private Methods
  *****************************************************************************/
 
-int16_t RelativeEncoders::calculate(int16_t absSteps, int16_t refPoint) const
-{
-    int16_t diffSteps = absSteps - refPoint;
-
-    /* Wrap around in forward or backward direction?
-     * In both cases the difference must be multiplied with -1.
-     */
-    if (((0 > absSteps) && (0 < refPoint)) || ((0 < absSteps) && (0 > refPoint)))
-    {
-        diffSteps *= -1;
-    }
-
-    return diffSteps;
-}
-
 /******************************************************************************
  * External Functions
  *****************************************************************************/

diff --git a/lib/Service/RelativeEncoders.h b/lib/Service/RelativeEncoders.h
@@ -132,17 +132,6 @@ class RelativeEncoders
     RelativeEncoders();
     RelativeEncoders(const RelativeEncoders& relEncoder);
     RelativeEncoders& operator=(const RelativeEncoders& relEncoder);
-
-    /**
-     * Calculate relative number of encoder steps between the reference point
-     * and the current absolute number of encoder steps.
-     * 
-     * @param[in] absSteps  Absolute number of encoder steps
-     * @param[in] refPoint  Reference point
-     * 
-     * @return Relative number of encoder steps
-     */
-    int16_t calculate(int16_t absSteps, int16_t refPoint) const;
 };
 
 /******************************************************************************