BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.util/Deadwheel/getCorrectedVelocity

getCorrectedVelocity

open fun getCorrectedVelocity(): Double

Uses velocity estimates gathered in getCurrentPosition to estimate the upper bits of velocity that are lost in overflow due to velocity being transmitted as 16 bits. CAVEAT: must regularly call getCurrentPosition for the compensation to work correctly.

Return

corrected velocity