BA / Mbed 2 deprecated RT2_P3_DAC_test

sfbsg

Dependencies:   mbed

DiffCounter.h@0:8ab621116ccd, 2018-04-03 (annotated)

Committer:
borlanic
Date:
Tue Apr 03 15:17:11 2018 +0000
Revision:
0:8ab621116ccd
fg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
borlanic 0:8ab621116ccd 1 /* DiffCounter Class, differentiate encoder counts for cuboid based on LP filter
borlanic 0:8ab621116ccd 2 and unwrapping
borlanic 0:8ab621116ccd 3
borlanic 0:8ab621116ccd 4 1/tau*(z-1)
borlanic 0:8ab621116ccd 5 G(z) = ------------
borlanic 0:8ab621116ccd 6 z - a0
borlanic 0:8ab621116ccd 7 */
borlanic 0:8ab621116ccd 8
borlanic 0:8ab621116ccd 9 class DiffCounter{
borlanic 0:8ab621116ccd 10 public:
borlanic 0:8ab621116ccd 11 DiffCounter(float a,float b);
borlanic 0:8ab621116ccd 12 float operator()(short inc){
borlanic 0:8ab621116ccd 13 return doStep(inc);
borlanic 0:8ab621116ccd 14 }
borlanic 0:8ab621116ccd 15 virtual ~DiffCounter();
borlanic 0:8ab621116ccd 16 void reset(float,short);
borlanic 0:8ab621116ccd 17 float doStep(short inc);
borlanic 0:8ab621116ccd 18 float Ts;
borlanic 0:8ab621116ccd 19
borlanic 0:8ab621116ccd 20 private:
borlanic 0:8ab621116ccd 21
borlanic 0:8ab621116ccd 22 float alpha;
borlanic 0:8ab621116ccd 23 float a0;
borlanic 0:8ab621116ccd 24 short inc_old;
borlanic 0:8ab621116ccd 25 float v_old;
borlanic 0:8ab621116ccd 26 long del;
borlanic 0:8ab621116ccd 27 float inc2rad;
borlanic 0:8ab621116ccd 28 };