Ruprecht Altenburger / Library_Misc_cuboid

branch for cuboid

Diff: Unwrapper.cpp

Revision:
0:72b60c5271cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Unwrapper.cpp	Thu Mar 07 07:03:44 2019 +0000
@@ -0,0 +1,30 @@
+/*  
+*/
+
+#include "Unwrapper.h"
+#define   pi 3.141592653589793
+using namespace std;
+
+Unwrapper::Unwrapper(double i2r)
+{   
+    inc2rad = i2r;
+    last_value = 0;
+}
+
+Unwrapper::~Unwrapper() {}
+
+void Unwrapper::reset(void)
+{
+    last_value = 0;
+}
+
+double Unwrapper::doStep(short inc)
+{
+    long temp = inc;
+    if((temp - last_value) > 32000)
+        temp -= 0xFFFF;
+    else if((temp - last_value) < -32000)
+        temp += 0xFFFF;
+    last_value = temp;
+    return (temp*inc2rad);
+}