Preston Ernst / Mbed OS mirror_actuator_VT

-data logging revision

Dependencies:   FastPWM

Lib_Misc/Unwrapper.cpp@2:92c25cb669f4, 2021-08-24 (annotated)

Committer:
ernstpre
Date:
Tue Aug 24 08:51:13 2021 +0000
Revision:
2:92c25cb669f4
Parent:
0:d2e117716219 
Publish Commit 24/8/21

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:d2e117716219 1 /*
altb2 0:d2e117716219 2 */
altb2 0:d2e117716219 3
altb2 0:d2e117716219 4 #include "Unwrapper.h"
altb2 0:d2e117716219 5 #define pi 3.141592653589793
altb2 0:d2e117716219 6 using namespace std;
altb2 0:d2e117716219 7
altb2 0:d2e117716219 8 Unwrapper::Unwrapper(double i2r)
altb2 0:d2e117716219 9 {
altb2 0:d2e117716219 10 inc2rad = i2r;
altb2 0:d2e117716219 11 last_value = 0;
altb2 0:d2e117716219 12 }
altb2 0:d2e117716219 13
altb2 0:d2e117716219 14 Unwrapper::~Unwrapper() {}
altb2 0:d2e117716219 15
altb2 0:d2e117716219 16 void Unwrapper::reset(void)
altb2 0:d2e117716219 17 {
altb2 0:d2e117716219 18 last_value = 0;
altb2 0:d2e117716219 19 }
altb2 0:d2e117716219 20
altb2 0:d2e117716219 21 double Unwrapper::doStep(short inc)
altb2 0:d2e117716219 22 {
altb2 0:d2e117716219 23 long temp = inc;
altb2 0:d2e117716219 24 if((temp - last_value) > 32000)
altb2 0:d2e117716219 25 temp -= 0xFFFF;
altb2 0:d2e117716219 26 else if((temp - last_value) < -32000)
altb2 0:d2e117716219 27 temp += 0xFFFF;
altb2 0:d2e117716219 28 last_value = temp;
altb2 0:d2e117716219 29 return (temp*inc2rad);
altb2 0:d2e117716219 30 }