Diff: Lib_Misc/DiffCounter.h

Revision:

0:d2e117716219

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Lib_Misc/DiffCounter.h	Sun May 02 19:32:30 2021 +0000
@@ -0,0 +1,36 @@
+#ifndef DIFFCOUNTER_H_
+#define DIFFCOUNTER_H_
+
+#include <mbed.h>
+
+class DiffCounter
+{
+public:
+
+    DiffCounter(float T, float Ts);
+    DiffCounter(float T, float Ts, uint32_t incPerRev);
+    DiffCounter(float T, float Ts, uint32_t incPerRev, float direction);
+
+    float operator()(short inc) {
+        return doStep(inc);
+    }
+    
+    virtual     ~DiffCounter();
+    
+    void        reset(float initValue, short inc);
+    float       doStep(int16_t inc);
+
+private:
+
+        double  b;
+        double  a;
+        int16_t incPast;
+        int16_t inc;
+        double  vel;
+        double  inc2rad;
+        int32_t incPerRev;
+        float       direction;
+
+};
+
+#endif /* DIFFCOUNTER_H_ */
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