RT2_P3 / Mbed 2 deprecated nucf446-cuboid-balance_strong

cuboid strong

Dependencies:   mbed

DiffCounter.h@2:38d9d1c3c85f, 2018-03-01 (annotated)

Committer:
altb
Date:
Thu Mar 01 10:33:19 2018 +0000
Revision:
2:38d9d1c3c85f
Parent:
0:15be70d21d7c 
Cuboid with lift up and down

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rtlabor 0:15be70d21d7c 1 /* DiffCounter Class, differentiate encoder counts for cuboid based on LP filter
rtlabor 0:15be70d21d7c 2 and unwrapping
rtlabor 0:15be70d21d7c 3
rtlabor 0:15be70d21d7c 4 1/tau*(z-1)
rtlabor 0:15be70d21d7c 5 G(z) = ------------
rtlabor 0:15be70d21d7c 6 z - a0
rtlabor 0:15be70d21d7c 7 */
rtlabor 0:15be70d21d7c 8
rtlabor 0:15be70d21d7c 9 class DiffCounter{
rtlabor 0:15be70d21d7c 10 public:
rtlabor 0:15be70d21d7c 11 DiffCounter(float a,float b);
rtlabor 0:15be70d21d7c 12 float operator()(short inc){
rtlabor 0:15be70d21d7c 13 return doStep(inc);
rtlabor 0:15be70d21d7c 14 }
rtlabor 0:15be70d21d7c 15 virtual ~DiffCounter();
rtlabor 0:15be70d21d7c 16 void reset(float,short);
rtlabor 0:15be70d21d7c 17 float doStep(short inc);
rtlabor 0:15be70d21d7c 18 float Ts;
rtlabor 0:15be70d21d7c 19
rtlabor 0:15be70d21d7c 20 private:
rtlabor 0:15be70d21d7c 21
rtlabor 0:15be70d21d7c 22 float alpha;
rtlabor 0:15be70d21d7c 23 float a0;
rtlabor 0:15be70d21d7c 24 short inc_old;
rtlabor 0:15be70d21d7c 25 float v_old;
rtlabor 0:15be70d21d7c 26 long del;
rtlabor 0:15be70d21d7c 27 float inc2rad;
rtlabor 0:15be70d21d7c 28 };