Fertig
Dependencies: mbed
Fork of RT2_P3_students by
DiffCounter.h
- Committer:
- altb
- Date:
- 2018-04-09
- Revision:
- 1:a30512c3ac73
- Parent:
- 0:78ca29b4c49e
- Child:
- 3:769ce5f06d3e
File content as of revision 1:a30512c3ac73:
#ifndef DIFFCOUNTER_H_ #define DIFFCOUNTER_H_ /* 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; }; #endif // DIFFCOUNTER_H_