void GetAcceleration(double &ax, double &ay)
{
double axH = countXhi.GetPeriod();
double axL = countXlow.GetPeriod();
double ayH = countYhi.GetPeriod();
double ayL = countYlow.GetPeriod();
//axH = axH - fmod(axH, 0.00001);
//ayH = ayH - fmod(ayH, 0.00001);
// convert to m/s^2 -- 50% duty cycle is 0g
ax = (((axH / (axH + axL)) - .5) * 8.0) * 9.81;
ay = (((ayH / (ayH + ayL)) - .5) * 8.0) * 9.81;
}
/*
* Get the Period of the most recent count.
* Returns the time interval of the most recent count. This can be used for velocity calculations
* to determine shaft speed.
* @param channel The channel of the digital input used with this counter
* @returns The period of the last two pulses in units of seconds.
*/
double GetCounterPeriod(UINT32 channel)
{
Counter *counter = AllocateCounter(channel);
if (counter != NULL)
return counter->GetPeriod();
else
return 0;
}
