Diff: DiffCounter.h

Revision:

8:d68e177e2571

Parent:

0:15be70d21d7c

Child:

12:6287235b2570

--- a/DiffCounter.h	Sat Mar 17 08:43:07 2018 +0000
+++ b/DiffCounter.h	Thu Mar 22 17:32:37 2018 +0000
@@ -1,28 +1,24 @@
-/*  DiffCounter Class, differentiate encoder counts for cuboid based on LP filter
-    and unwrapping
-    
-        1/tau*(z-1)        
-G(z) = ------------
-         z - a0
-*/
+class DiffCounter
+{
+public:
 
-class DiffCounter{
-     public:
-                    DiffCounter(float a,float b);
-        float operator()(short inc){
-         return doStep(inc);
-         }
-        virtual     ~DiffCounter();
-        void        reset(float,short);
-        float       doStep(short inc);
-        float       Ts;
+    DiffCounter(float T, float Ts);
+    
+    float operator()(short inc) {
+        return doStep(inc);
+    }
+    
+    virtual     ~DiffCounter();
     
-    private:
-    
-        float alpha;
-        float a0;
-        short inc_old;
-        float v_old;
-        long del;
-        float inc2rad;
+    void        reset(float initValue, short inc);
+    float       doStep(short inc);
+
+private:
+
+    float b;
+    float a;
+    short incPast;
+    float vel;
+    float inc2rad;
+
 };
\ No newline at end of file