fixed bug in upscaledPos calculation in C++ lib

adamb314 · adamb314 · commit f1429f44ae33 · 2022-02-26T23:23:17.000+01:00
diff --git a/C++/Library/src/ServoProject.cpp b/C++/Library/src/ServoProject.cpp
@@ -664,11 +664,11 @@ void DCServoCommunicator::run()
     }
     else
     {
-        long int upscaledPos = static_cast<unsigned long int>(intReadBuffer[3]);
+        long int upscaledPos = static_cast<unsigned short int>(intReadBuffer[3]);
         upscaledPos += (static_cast<long int>(charReadBuffer[9]) << 16);
-        if (upscaledPos >= (2 << 23))
+        if (upscaledPos >= (1 << 23))
         {
-            upscaledPos -= (2 << 24);
+            upscaledPos -= (1 << 24);
         }
 
         long int encPosWithBacklashComp = intReadBuffer[10] + static_cast<long int>(intReadBuffer[11]);

Original file line number	Diff line number	Diff line change
`@@ -664,11 +664,11 @@ void DCServoCommunicator::run()`
`664`	`664`	`}`
`665`	`665`	`else`
`666`	`666`	`{`
`667`		`- long int upscaledPos = static_cast<unsigned long int>(intReadBuffer[3]);`
	`667`	`+ long int upscaledPos = static_cast<unsigned short int>(intReadBuffer[3]);`
`668`	`668`	`upscaledPos += (static_cast<long int>(charReadBuffer[9]) << 16);`
`669`		`- if (upscaledPos >= (2 << 23))`
	`669`	`+ if (upscaledPos >= (1 << 23))`
`670`	`670`	`{`
`671`		`- upscaledPos -= (2 << 24);`
	`671`	`+ upscaledPos -= (1 << 24);`
`672`	`672`	`}`
`673`	`673`
`674`	`674`	`long int encPosWithBacklashComp = intReadBuffer[10] + static_cast<long int>(intReadBuffer[11]);`