Ruprecht Altenburger / Library_Misc_cuboid

branch for cuboid

Unwrapper.cpp@3:b23f59513a90, 2019-11-22 (annotated)

Committer:
altb2
Date:
Fri Nov 22 16:44:35 2019 +0000
Revision:
3:b23f59513a90
Parent:
0:72b60c5271cc 
Some changes in lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:72b60c5271cc 1 /*
altb2 0:72b60c5271cc 2 */
altb2 0:72b60c5271cc 3
altb2 0:72b60c5271cc 4 #include "Unwrapper.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::Unwrapper(double i2r)
altb2 0:72b60c5271cc 9 {
altb2 0:72b60c5271cc 10 inc2rad = i2r;
altb2 0:72b60c5271cc 11 last_value = 0;
altb2 0:72b60c5271cc 12 }
altb2 0:72b60c5271cc 13
altb2 0:72b60c5271cc 14 Unwrapper::~Unwrapper() {}
altb2 0:72b60c5271cc 15
altb2 0:72b60c5271cc 16 void Unwrapper::reset(void)
altb2 0:72b60c5271cc 17 {
altb2 0:72b60c5271cc 18 last_value = 0;
altb2 0:72b60c5271cc 19 }
altb2 0:72b60c5271cc 20
altb2 0:72b60c5271cc 21 double Unwrapper::doStep(short inc)
altb2 0:72b60c5271cc 22 {
altb2 0:72b60c5271cc 23 long temp = inc;
altb2 0:72b60c5271cc 24 if((temp - last_value) > 32000)
altb2 0:72b60c5271cc 25 temp -= 0xFFFF;
altb2 0:72b60c5271cc 26 else if((temp - last_value) < -32000)
altb2 0:72b60c5271cc 27 temp += 0xFFFF;
altb2 0:72b60c5271cc 28 last_value = temp;
altb2 0:72b60c5271cc 29 return (temp*inc2rad);
altb2 0:72b60c5271cc 30 }