Issue #22: All motors GetEncoderCounter() return values with same sign

taketook34 · taketook34 · commit fa9722a30f99 · 2025-05-03T12:25:35.000+03:00
diff --git a/src/kpi_rover_ecu/src/motor.cpp b/src/kpi_rover_ecu/src/motor.cpp
@@ -89,7 +89,7 @@ int Motor::GetEncoderCounter() {
     rc_encoder_write(motorNumber_, 0);
 
     MotorSet(setpointRpm_ + kPidOutput);
-    return kEncoderTicks;
+    return pid_encoder_ticks;
 }
 
 double Motor::GetDC(int entryRPM) { return static_cast<double>(entryRPM) / kMaxRpm; }

Original file line number	Diff line number	Diff line change
`@@ -89,7 +89,7 @@ int Motor::GetEncoderCounter() {`
`89`	`89`	`rc_encoder_write(motorNumber_, 0);`
`90`	`90`
`91`	`91`	`MotorSet(setpointRpm_ + kPidOutput);`
`92`		`- return kEncoderTicks;`
	`92`	`+ return pid_encoder_ticks;`
`93`	`93`	`}`
`94`	`94`
`95`	`95`	`double Motor::GetDC(int entryRPM) { return static_cast<double>(entryRPM) / kMaxRpm; }`