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servo_millirpm2vcmd

long servo_millirpm2vcmd( int which, long millirpm );

Description

Convert 1/1000 RPM units to velocity command value. Basic formula is:

Floating point is used to retain 24 bit precision.

Parameters

which

Servo (0 or 1).

millirpm

Input in units of 1/1000 RPM.

Return Value

Output in units suitable for command velocity setting i.e units of 1/65536 encoder counts per ISR execution (sample).

Library

SERVO.LIB

See Also

servo_move_to, servo_set_vel, servo_set_pos