Ruprecht Altenburger / Library_Misc

2nd try

Dependents:   cuboid_balance

Unwrapper_2pi.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 3:29602f4ade5c 1 #ifndef UNWRAPPER_2PI_H_
altb2 3:29602f4ade5c 2 #define UNWRAPPER_2PI_H_
altb2 3:29602f4ade5c 3
altb2 0:72b60c5271cc 4
altb2 0:72b60c5271cc 5 using namespace std;
altb2 0:72b60c5271cc 6
altb2 0:72b60c5271cc 7 class Unwrapper_2pi
altb2 0:72b60c5271cc 8 {
altb2 0:72b60c5271cc 9 public:
altb2 0:72b60c5271cc 10
altb2 0:72b60c5271cc 11 Unwrapper_2pi(void);
altb2 0:72b60c5271cc 12
altb2 0:72b60c5271cc 13 float operator()(float in) {
altb2 0:72b60c5271cc 14 return doStep(in);
altb2 0:72b60c5271cc 15 }
altb2 0:72b60c5271cc 16
altb2 0:72b60c5271cc 17 virtual ~Unwrapper_2pi();
altb2 0:72b60c5271cc 18
altb2 0:72b60c5271cc 19 void reset(void);
altb2 0:72b60c5271cc 20 float doStep(float inc);
altb2 0:72b60c5271cc 21
altb2 0:72b60c5271cc 22 private:
altb2 0:72b60c5271cc 23
altb2 0:72b60c5271cc 24 long turns;
altb2 0:72b60c5271cc 25 float last_value;
altb2 0:72b60c5271cc 26
altb2 0:72b60c5271cc 27 };
altb2 3:29602f4ade5c 28 #endif