void UpdateState()
{
float output = percentOutput * (Inverted ? -1.0f : 1.0f);
motor.setInput(output);
if (followerMotorController)
{
followerMotorController.motor.setInput(output);
}
if (encoder)
{
int counts = encoder.Counts * (sensorPhase ? -1 : 1);
// compute velocity.Position already figured by encoder.
encoderPosition = counts;
// Compute velocity as change in position. Delta ticks /time in seconds / 10 to get time per 100 mSec
encoderVelocity = ((counts - lastEncoderValue)) / (Time.deltaTime) / 10.0f;
lastEncoderValue = counts;
}
supplyCurrent = Mathf.Abs((float)percentOutput) * 30 * Random.Range(0.95f, 1.05f);
busVoltage = 12.0 - (percentOutput * percentOutput) * 0.75 * Random.Range(0.95f, 1.05f);
}
// Update is called once per frame
void FixedUpdate()
{
motor.setInput(PWMPort.GetSpeed());
}
