Diff: DiffCounter.h

Revision:

3:769ce5f06d3e

Parent:

1:a30512c3ac73

Child:

7:72982ede2ff6

--- a/DiffCounter.h	Mon Apr 09 05:50:04 2018 +0000
+++ b/DiffCounter.h	Mon Apr 09 08:01:29 2018 +0000
@@ -1,34 +1,24 @@
-
-#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:
 
-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:
 
-#endif      // DIFFCOUNTER_H_
+    double b;
+    double a;
+    short incPast;
+    double vel;
+    double inc2rad;
+
+};
\ No newline at end of file