2nd try
Unwrapper_2pi.cpp@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:72b60c5271cc | 1 | /* |
altb2 | 0:72b60c5271cc | 2 | */ |
altb2 | 0:72b60c5271cc | 3 | |
altb2 | 0:72b60c5271cc | 4 | #include "Unwrapper_2pi.h" |
altb2 | 0:72b60c5271cc | 5 | #define pi 3.141592653589793 |
altb2 | 0:72b60c5271cc | 6 | using namespace std; |
altb2 | 0:72b60c5271cc | 7 | |
altb2 | 0:72b60c5271cc | 8 | Unwrapper_2pi::Unwrapper_2pi(void) |
altb2 | 0:72b60c5271cc | 9 | { |
altb2 | 0:72b60c5271cc | 10 | last_value = 0.0; |
altb2 | 0:72b60c5271cc | 11 | turns = 0; |
altb2 | 0:72b60c5271cc | 12 | } |
altb2 | 0:72b60c5271cc | 13 | |
altb2 | 0:72b60c5271cc | 14 | Unwrapper_2pi::~Unwrapper_2pi() {} |
altb2 | 0:72b60c5271cc | 15 | |
altb2 | 0:72b60c5271cc | 16 | void Unwrapper_2pi::reset(void) |
altb2 | 0:72b60c5271cc | 17 | { |
altb2 | 0:72b60c5271cc | 18 | last_value = 0.0; |
altb2 | 0:72b60c5271cc | 19 | turns = 0; |
altb2 | 0:72b60c5271cc | 20 | } |
altb2 | 0:72b60c5271cc | 21 | |
altb2 | 0:72b60c5271cc | 22 | float Unwrapper_2pi::doStep(float in) |
altb2 | 0:72b60c5271cc | 23 | { |
altb2 | 0:72b60c5271cc | 24 | float temp = in + 2*pi*(float)turns; |
altb2 | 0:72b60c5271cc | 25 | if((temp - last_value) > pi){ |
altb2 | 0:72b60c5271cc | 26 | temp -= 2*pi; |
altb2 | 0:72b60c5271cc | 27 | turns--; |
altb2 | 0:72b60c5271cc | 28 | } |
altb2 | 0:72b60c5271cc | 29 | else if((temp - last_value) < -pi){ |
altb2 | 0:72b60c5271cc | 30 | temp += 2*pi; |
altb2 | 0:72b60c5271cc | 31 | turns++; |
altb2 | 0:72b60c5271cc | 32 | } |
altb2 | 0:72b60c5271cc | 33 | last_value = temp; |
altb2 | 0:72b60c5271cc | 34 | return (temp); |
altb2 | 0:72b60c5271cc | 35 | } |