2nd try
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?
User | Revision | Line number | New 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 |