Pulse Encoder读出来的值明明很小，但出现了溢出情况

发布于 2022-06-16 19:57:16 浏览：886 订阅该版

我在RT-THREAD Studio中导入了github上的rt-thread最新pulse encoder的驱动，在调试过程中，发现读出来的编码器的值明明很小，却时常出现溢出值

![微信图片_20220616195421.png](https://oss-club.rt-thread.org/uploads/20220616/fbd15d677dd852544ba93eac2378a989.png "微信图片_20220616195421.png")

我的读取周期为20ms读取一次，出现溢出的情况越来越严重，读取周期短一点则出现的概率不高
```c
while(1)
{
	rt_thread_mdelay(CONTROL_TICK);      //挂起20ms

rt_enter_critical();
	kinetic_calc(x_speed, y_speed, z_speed, target_encoder);        //获取电机目标

#if DEBUG_PID
		rt_device_read(encoder[0], 0, &encoder_value, 1);       /*BUG:这里读值的时候会溢出*/
	//rt_kprintf("Read value:%d \n",encoder_value);
	//outpwm[m_n] += IncPID(0,targetEncoder_test, &motor_pid[m_n]);
	rt_device_control(encoder[0], PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
	rt_kprintf("Read value:%d \n",encoder_value);

#else

outpwm[0] += IncPID(GET_CURRENT_ENCODER(0), v2encoder(target_encoder[0]), &motor_pid[0]);
	outpwm[1] += IncPID(GET_CURRENT_ENCODER(1), v2encoder(target_encoder[1]), &motor_pid[1]);
	outpwm[2] += IncPID(GET_CURRENT_ENCODER(2), v2encoder(target_encoder[2]), &motor_pid[2]);
	outpwm[3] += IncPID(GET_CURRENT_ENCODER(3), v2encoder(target_encoder[3]), &motor_pid[3]);

#endif
		//输出PWM

rt_exit_critical();

}
```