cuboid strong
Dependencies: mbed
DiffCounter.h
- Committer:
- altb
- Date:
- 2018-03-01
- Revision:
- 2:38d9d1c3c85f
- Parent:
- 0:15be70d21d7c
File content as of revision 2:38d9d1c3c85f:
/* DiffCounter Class, differentiate encoder counts for cuboid based on LP filter and unwrapping 1/tau*(z-1) G(z) = ------------ z - a0 */ 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; private: float alpha; float a0; short inc_old; float v_old; long del; float inc2rad; };