static const accel velotable [] =
{
//{ 12800 / TICKS_FREQUENCY, 200 }, //
//{ 6400 / TICKS_FREQUENCY, 50 }, //
//{ 2400 / TICKS_FREQUENCY, 2 }, //
{ 20000 / TICKS_FREQUENCY, 200 }, //
{ 9600 / TICKS_FREQUENCY, 50 }, //
{ 2400 / TICKS_FREQUENCY, 2 }, //
};
int i;
uint_least8_t ticks;
int nrotate = encoder_snapshot(& ticks, hiresdiv);
#if ENCODER_ACCELERATE
#if ENCODER_HIRES //
int relspeed = (nrotate * 4 * hiresdiv) / ticks;
#else //
int relspeed = (nrotate * 16 * hiresdiv) / ticks; //
#endif //
const int speedabs = (relspeed < 0) ? - relspeed : relspeed;