BA / Mbed 2 deprecated RT2_P3_DAC_test

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Show/hide line numbers DiffCounter.h Source File

DiffCounter.h

00001 /*  DiffCounter Class, differentiate encoder counts for cuboid based on LP filter
00002     and unwrapping
00003     
00004         1/tau*(z-1)        
00005 G(z) = ------------
00006          z - a0
00007 */
00008 
00009 class DiffCounter{
00010      public:
00011                     DiffCounter(float a,float b);
00012         float operator()(short inc){
00013          return doStep(inc);
00014          }
00015         virtual     ~DiffCounter();
00016         void        reset(float,short);
00017         float       doStep(short inc);
00018         float       Ts;
00019     
00020     private:
00021     
00022         float alpha;
00023         float a0;
00024         short inc_old;
00025         float v_old;
00026         long del;
00027         float inc2rad;
00028 };
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