Miscellaneous Library, read Encoder etc.
Diff: DiffCounter.h
- Revision:
- 0:3312872854c4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DiffCounter.h Mon Mar 04 11:03:51 2019 +0000
@@ -0,0 +1,29 @@
+#ifndef DIFFCOUNTER_H_
+#define DIFFCOUNTER_H_
+
+class DiffCounter
+{
+public:
+
+ DiffCounter(float T, float Ts);
+
+ float operator()(short inc) {
+ return doStep(inc);
+ }
+
+ virtual ~DiffCounter();
+
+ void reset(float initValue, short inc);
+ float doStep(short inc);
+
+private:
+
+ double b;
+ double a;
+ short incPast;
+ double vel;
+ double inc2rad;
+
+};
+
+#endif /* DIFFCOUNTER_H_ */
\ No newline at end of file