Ruprecht Altenburger / Library_Misc

2nd try

Dependents:   cuboid_balance

DiffCounter.h@3:29602f4ade5c, 2021-02-25 (annotated)

Committer:
altb2
Date:
Thu Feb 25 20:28:16 2021 +0000
Revision:
3:29602f4ade5c
Parent:
0:72b60c5271cc 
First commit of Mirror actuato, still under construction, pins should be ok, next: check path planner;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:72b60c5271cc 1 #ifndef DIFFCOUNTER_H_
altb2 0:72b60c5271cc 2 #define DIFFCOUNTER_H_
altb2 0:72b60c5271cc 3
altb2 0:72b60c5271cc 4 class DiffCounter
altb2 0:72b60c5271cc 5 {
altb2 0:72b60c5271cc 6 public:
altb2 0:72b60c5271cc 7
altb2 0:72b60c5271cc 8 DiffCounter(float T, float Ts);
altb2 0:72b60c5271cc 9
altb2 0:72b60c5271cc 10 float operator()(short inc) {
altb2 0:72b60c5271cc 11 return doStep(inc);
altb2 0:72b60c5271cc 12 }
altb2 0:72b60c5271cc 13
altb2 0:72b60c5271cc 14 virtual ~DiffCounter();
altb2 0:72b60c5271cc 15
altb2 0:72b60c5271cc 16 void reset(float initValue, short inc);
altb2 0:72b60c5271cc 17 float doStep(short inc);
altb2 0:72b60c5271cc 18
altb2 0:72b60c5271cc 19 private:
altb2 0:72b60c5271cc 20
altb2 0:72b60c5271cc 21 double b;
altb2 0:72b60c5271cc 22 double a;
altb2 0:72b60c5271cc 23 short incPast;
altb2 0:72b60c5271cc 24 double vel;
altb2 0:72b60c5271cc 25 double inc2rad;
altb2 0:72b60c5271cc 26
altb2 0:72b60c5271cc 27 };
altb2 0:72b60c5271cc 28
altb2 0:72b60c5271cc 29 #endif /* DIFFCOUNTER_H_ */