James Kiwic / Mbed 2 deprecated RT2_P3_students

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Dependencies:   mbed

Fork of RT2_P3_students by TeamSurface

DiffCounter.h@1:a30512c3ac73, 2018-04-09 (annotated)

Committer:
altb
Date:
Mon Apr 09 05:50:04 2018 +0000
Revision:
1:a30512c3ac73
Parent:
0:78ca29b4c49e
Child:
3:769ce5f06d3e
added compiler commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 1:a30512c3ac73 1
altb 1:a30512c3ac73 2 #ifndef DIFFCOUNTER_H_
altb 1:a30512c3ac73 3 #define DIFFCOUNTER_H_
altb 1:a30512c3ac73 4
altb 0:78ca29b4c49e 5 /* DiffCounter Class, differentiate encoder counts for cuboid based on LP filter
altb 0:78ca29b4c49e 6 and unwrapping
altb 0:78ca29b4c49e 7
altb 0:78ca29b4c49e 8 1/tau*(z-1)
altb 0:78ca29b4c49e 9 G(z) = ------------
altb 0:78ca29b4c49e 10 z - a0
altb 0:78ca29b4c49e 11 */
altb 0:78ca29b4c49e 12
altb 0:78ca29b4c49e 13 class DiffCounter{
altb 0:78ca29b4c49e 14 public:
altb 0:78ca29b4c49e 15 DiffCounter(float a,float b);
altb 0:78ca29b4c49e 16 float operator()(short inc){
altb 0:78ca29b4c49e 17 return doStep(inc);
altb 0:78ca29b4c49e 18 }
altb 0:78ca29b4c49e 19 virtual ~DiffCounter();
altb 0:78ca29b4c49e 20 void reset(float,short);
altb 0:78ca29b4c49e 21 float doStep(short inc);
altb 0:78ca29b4c49e 22 float Ts;
altb 0:78ca29b4c49e 23
altb 0:78ca29b4c49e 24 private:
altb 0:78ca29b4c49e 25
altb 0:78ca29b4c49e 26 float alpha;
altb 0:78ca29b4c49e 27 float a0;
altb 0:78ca29b4c49e 28 short inc_old;
altb 0:78ca29b4c49e 29 float v_old;
altb 0:78ca29b4c49e 30 long del;
altb 0:78ca29b4c49e 31 float inc2rad;
altb 1:a30512c3ac73 32 };
altb 1:a30512c3ac73 33
altb 1:a30512c3ac73 34 #endif // DIFFCOUNTER_H_