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Unwrapper.cpp@11:78e723ede0c6, 2019-02-25 (annotated)
- Committer:
- altb
- Date:
- Mon Feb 25 09:47:04 2019 +0000
- Revision:
- 11:78e723ede0c6
- Parent:
- 0:d784b08f51ff
2018
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 0:d784b08f51ff | 1 | /* |
altb | 0:d784b08f51ff | 2 | */ |
altb | 0:d784b08f51ff | 3 | |
altb | 0:d784b08f51ff | 4 | #include "Unwrapper.h" |
altb | 0:d784b08f51ff | 5 | #define pi 3.141592653589793 |
altb | 0:d784b08f51ff | 6 | using namespace std; |
altb | 0:d784b08f51ff | 7 | |
altb | 0:d784b08f51ff | 8 | Unwrapper::Unwrapper(double i2r) |
altb | 0:d784b08f51ff | 9 | { |
altb | 0:d784b08f51ff | 10 | inc2rad = i2r; |
altb | 0:d784b08f51ff | 11 | last_value = 0; |
altb | 0:d784b08f51ff | 12 | } |
altb | 0:d784b08f51ff | 13 | |
altb | 0:d784b08f51ff | 14 | Unwrapper::~Unwrapper() {} |
altb | 0:d784b08f51ff | 15 | |
altb | 0:d784b08f51ff | 16 | void Unwrapper::reset(void) |
altb | 0:d784b08f51ff | 17 | { |
altb | 0:d784b08f51ff | 18 | last_value = 0; |
altb | 0:d784b08f51ff | 19 | } |
altb | 0:d784b08f51ff | 20 | |
altb | 0:d784b08f51ff | 21 | double Unwrapper::doStep(short inc) |
altb | 0:d784b08f51ff | 22 | { |
altb | 0:d784b08f51ff | 23 | long temp = inc; |
altb | 0:d784b08f51ff | 24 | if((temp - last_value) > 32000) |
altb | 0:d784b08f51ff | 25 | temp -= 0xFFFF; |
altb | 0:d784b08f51ff | 26 | else if((temp - last_value) < -32000) |
altb | 0:d784b08f51ff | 27 | temp += 0xFFFF; |
altb | 0:d784b08f51ff | 28 | last_value = temp; |
altb | 0:d784b08f51ff | 29 | return (temp*inc2rad); |
altb | 0:d784b08f51ff | 30 | } |