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Unwrapper.cpp
00001 /* 00002 */ 00003 00004 #include "Unwrapper.h" 00005 #define pi 3.141592653589793 00006 using namespace std; 00007 00008 Unwrapper::Unwrapper(double i2r) 00009 { 00010 inc2rad = i2r; 00011 last_value = 0; 00012 } 00013 00014 Unwrapper::~Unwrapper() {} 00015 00016 void Unwrapper::reset(void) 00017 { 00018 last_value = 0; 00019 } 00020 00021 double Unwrapper::doStep(short inc) 00022 { 00023 long temp = inc; 00024 if((temp - last_value) > 32000) 00025 temp -= 0xFFFF; 00026 else if((temp - last_value) < -32000) 00027 temp += 0xFFFF; 00028 last_value = temp; 00029 return (temp*inc2rad); 00030 }
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