Test-Stand/Overview.md

@@ -31,7 +31,7 @@ long lastTime = 0;
 long currTime = 0;
 long lastReading = 0;
 long currReading = 0;
-
+int prevRate = 0;
 long deltaTime = 0;
 long deltaReading = 0;
 
@@ -57,6 +57,7 @@ void setup() {
   pinMode(BUTTON_PIN, INPUT);
   pinMode(LED_BUILTIN, OUTPUT);
   homePosition = analogRead(DATA_PIN);
+  homePosition += 512;
   lastTime = millis();
   lastReading = analogRead(DATA_PIN);
 }
@@ -82,6 +83,7 @@ void loop() {
       }
       else { // Short press occured, grab current position regardless of mode
         homePosition = analogRead(DATA_PIN);
+        homePosition += 512;
       }
       buttonActive = false;
     }
@@ -95,14 +97,7 @@ void loop() {
     double relativeDegrees = TEN_BIT_SCALAR * (double) homePosition;
     double displayPosition = absoluteDegrees - relativeDegrees;
     displayPosition += (displayPosition < 0) ? (360) : (0);
-//    if (NO_HANDSHAKE) {
-//      Serial.println(displayPosition);
-//    }
-//    else if (Serial.available() > 0 && Serial.read() == SEND_CODE) {
-//      Serial.println("DEBUG");
-//      Serial.println(displayPosition);
-//    }
-    Serial.println(displayPosition);
+    Serial.println((displayPosition-180));
     delay(100);
   }
   else { // We're in rate mode
@@ -110,12 +105,18 @@ void loop() {
     deltaTime = currTime - lastTime;
     deltaReading = currReading - lastReading;
     rate = 1000 * ((TEN_BIT_SCALAR * deltaReading) / (deltaTime));
-    Serial.println(rate);
-    delay(100);
+    // Thanks josh for the fix
+    if(abs(rate - prevRate) > 360) {
       
+    }else{
+      Serial.println((rate * -1.0));
+      delay(50);
+    }
+    prevRate = rate;
     }
   // Reset vars for next cycle
   lastTime = currTime;
   lastReading = currReading;
 }
+
 ```
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