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Why rpm is negated? #9

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aravindSolteq opened this issue Apr 28, 2021 · 0 comments
Open

Why rpm is negated? #9

aravindSolteq opened this issue Apr 28, 2021 · 0 comments

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@aravindSolteq
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Why is this in vesc_packet.cpp

double VescPacketValues::rpm() const
{
int32_t v = static_cast<int32_t>((static_cast<uint32_t>((payload_.first + 23)) << 24) +
(static_cast<uint32_t>((payload_.first + 24)) << 16) +
(static_cast<uint32_t>((payload_.first + 25)) << 8) +
static_cast<uint32_t>((payload_.first + 26)));
return static_cast(-1 * v);
}

why is it returning -(1*v) instead of v directly? Is there any specific reason for negating the rpm value?
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@aravindSolteq