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Description
From: https://community.simplefoc.com/t/lepton-deku-mod/2641/43?u=runger
Thanks to Dekutree
I’ve found a tricky bug.
float HallSensor::getVelocity(){
if (pulse_diff == 0 || ((long)(_micros() - pulse_timestamp) > pulse_diff) ) { // last velocity isn't accurate if too old
return 0;
} else {
return direction * (_2PI / (float)cpr) / (pulse_diff / 1000000.0f);
}
}
Sometimes it returns infinity due to divide by zero, because pulse_diff is volatile and can be changed by interrupt. It needs to be cached in a local variable before checking if it’s equal to zero.