Function encoder_get_mechanical_angle

program/algorithm/encoder.c:76–86

! \brief read mechanical angle directly from encoder \retval register raw data reading back */

    \retval register raw data reading back
*/
unsigned short encoder_get_mechanical_angle(void) {
    /* read back register raw data */
    unsigned short angle = encoder_read_data(0x0000) >> 4;

    /* statistical total rotation angle */
    total_machine_angle = total_machine_angle + angle - last_mechanical_angle;
    last_mechanical_angle = angle;

    /* returns the result of subtracting the offset. */
    return ((total_machine_angle - machine_angle_offset) % ENCODER_RESO);
}

/*!
    \brief  according to the electrical angle calculated from the mechanical angle,