James Kiwic / Mbed 2 deprecated RT2_P3_students

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Dependencies:   mbed

Fork of RT2_P3_students by TeamSurface

DiffCounter.h@0:78ca29b4c49e, 2018-04-03 (annotated)

Committer:
altb
Date:
Tue Apr 03 08:47:41 2018 +0000
Revision:
0:78ca29b4c49e
Child:
1:a30512c3ac73
Cuboid Lab RT2 FS 2018

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 0:78ca29b4c49e 1 /* DiffCounter Class, differentiate encoder counts for cuboid based on LP filter
altb 0:78ca29b4c49e 2 and unwrapping
altb 0:78ca29b4c49e 3
altb 0:78ca29b4c49e 4 1/tau*(z-1)
altb 0:78ca29b4c49e 5 G(z) = ------------
altb 0:78ca29b4c49e 6 z - a0
altb 0:78ca29b4c49e 7 */
altb 0:78ca29b4c49e 8
altb 0:78ca29b4c49e 9 class DiffCounter{
altb 0:78ca29b4c49e 10 public:
altb 0:78ca29b4c49e 11 DiffCounter(float a,float b);
altb 0:78ca29b4c49e 12 float operator()(short inc){
altb 0:78ca29b4c49e 13 return doStep(inc);
altb 0:78ca29b4c49e 14 }
altb 0:78ca29b4c49e 15 virtual ~DiffCounter();
altb 0:78ca29b4c49e 16 void reset(float,short);
altb 0:78ca29b4c49e 17 float doStep(short inc);
altb 0:78ca29b4c49e 18 float Ts;
altb 0:78ca29b4c49e 19
altb 0:78ca29b4c49e 20 private:
altb 0:78ca29b4c49e 21
altb 0:78ca29b4c49e 22 float alpha;
altb 0:78ca29b4c49e 23 float a0;
altb 0:78ca29b4c49e 24 short inc_old;
altb 0:78ca29b4c49e 25 float v_old;
altb 0:78ca29b4c49e 26 long del;
altb 0:78ca29b4c49e 27 float inc2rad;
altb 0:78ca29b4c49e 28 };