Miscellaneous Library, read Encoder etc.
Diff: Unwrapper.cpp
- Revision:
- 0:3312872854c4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Unwrapper.cpp Mon Mar 04 11:03:51 2019 +0000
@@ -0,0 +1,30 @@
+/*
+*/
+
+#include "Unwrapper.h"
+#define pi 3.141592653589793
+using namespace std;
+
+Unwrapper::Unwrapper(double i2r)
+{
+ inc2rad = i2r;
+ last_value = 0;
+}
+
+Unwrapper::~Unwrapper() {}
+
+void Unwrapper::reset(void)
+{
+ last_value = 0;
+}
+
+double Unwrapper::doStep(short inc)
+{
+ long temp = inc;
+ if((temp - last_value) > 32000)
+ temp -= 0xFFFF;
+ else if((temp - last_value) < -32000)
+ temp += 0xFFFF;
+ last_value = temp;
+ return (temp*inc2rad);
+}
\ No newline at end of file