James Kiwic
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RT2_P3_students
Fertig
Fork of RT2_P3_students by
DiffCounter.h
- Committer:
- altb
- Date:
- 2018-04-03
- Revision:
- 0:78ca29b4c49e
- Child:
- 1:a30512c3ac73
File content as of revision 0:78ca29b4c49e:
/* 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; };