Ruprecht Altenburger
/
mirror_actuator_preston
corrections altb2
Lib_Misc/DiffCounter.h@0:d2e117716219, 2021-05-02 (annotated)
- Committer:
- altb2
- Date:
- Sun May 02 19:32:30 2021 +0000
- Revision:
- 0:d2e117716219
1st commit;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:d2e117716219 | 1 | #ifndef DIFFCOUNTER_H_ |
altb2 | 0:d2e117716219 | 2 | #define DIFFCOUNTER_H_ |
altb2 | 0:d2e117716219 | 3 | |
altb2 | 0:d2e117716219 | 4 | #include <mbed.h> |
altb2 | 0:d2e117716219 | 5 | |
altb2 | 0:d2e117716219 | 6 | class DiffCounter |
altb2 | 0:d2e117716219 | 7 | { |
altb2 | 0:d2e117716219 | 8 | public: |
altb2 | 0:d2e117716219 | 9 | |
altb2 | 0:d2e117716219 | 10 | DiffCounter(float T, float Ts); |
altb2 | 0:d2e117716219 | 11 | DiffCounter(float T, float Ts, uint32_t incPerRev); |
altb2 | 0:d2e117716219 | 12 | DiffCounter(float T, float Ts, uint32_t incPerRev, float direction); |
altb2 | 0:d2e117716219 | 13 | |
altb2 | 0:d2e117716219 | 14 | float operator()(short inc) { |
altb2 | 0:d2e117716219 | 15 | return doStep(inc); |
altb2 | 0:d2e117716219 | 16 | } |
altb2 | 0:d2e117716219 | 17 | |
altb2 | 0:d2e117716219 | 18 | virtual ~DiffCounter(); |
altb2 | 0:d2e117716219 | 19 | |
altb2 | 0:d2e117716219 | 20 | void reset(float initValue, short inc); |
altb2 | 0:d2e117716219 | 21 | float doStep(int16_t inc); |
altb2 | 0:d2e117716219 | 22 | |
altb2 | 0:d2e117716219 | 23 | private: |
altb2 | 0:d2e117716219 | 24 | |
altb2 | 0:d2e117716219 | 25 | double b; |
altb2 | 0:d2e117716219 | 26 | double a; |
altb2 | 0:d2e117716219 | 27 | int16_t incPast; |
altb2 | 0:d2e117716219 | 28 | int16_t inc; |
altb2 | 0:d2e117716219 | 29 | double vel; |
altb2 | 0:d2e117716219 | 30 | double inc2rad; |
altb2 | 0:d2e117716219 | 31 | int32_t incPerRev; |
altb2 | 0:d2e117716219 | 32 | float direction; |
altb2 | 0:d2e117716219 | 33 | |
altb2 | 0:d2e117716219 | 34 | }; |
altb2 | 0:d2e117716219 | 35 | |
altb2 | 0:d2e117716219 | 36 | #endif /* DIFFCOUNTER_H_ */ |