mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
85 lines
3.1 KiB
Markdown
85 lines
3.1 KiB
Markdown
|
|
[](https://github.com/marketplace/actions/arduino_ci)
|
|
[](https://github.com/RobTillaart/AverageAngle/actions/workflows/arduino-lint.yml)
|
|
[](https://github.com/RobTillaart/AverageAngle/actions/workflows/jsoncheck.yml)
|
|
[](https://github.com/RobTillaart/AverageAngle/blob/master/LICENSE)
|
|
[](https://github.com/RobTillaart/AverageAngle/releases)
|
|
|
|
|
|
# AverageAngle
|
|
|
|
Arduino library to calculate correctly the average of multiple angles.
|
|
|
|
|
|
## Description
|
|
|
|
AverageAngle is an class to calculate the average of angles.
|
|
|
|
This is especially useful when angles are around 0 degrees,
|
|
e.g. from a compass sensor or the resultant of a track.
|
|
Example, the average angle of 359 and 1 is 0, not 179 (most of the time)
|
|
|
|
Furthermore the AverageAngle can also include the **length (weight)** of the angle as if it is a vector.
|
|
Default this length is set to 1 so all angles are by default of equal weight.
|
|
|
|
Example: The average angle of 359 (length = 2) and 1 (length = 1) is 359.something not zero.
|
|
|
|
See also **runningAngle** class.
|
|
|
|
|
|
## Interface
|
|
|
|
- **enum AngleType { DEGREES, RADIANS, GRADIANS } ** idem. 100 GRADIANS == 90 DEGREES.
|
|
- **AverageAngle(AngleType type = DEGREES)** constructor defaults to degrees.
|
|
- **uint32_t add(float alpha, float length = 1.0)** add a new angle, optional with length.
|
|
**add()** returns the number of elements (count).
|
|
- **void reset()** clears internal buffers.
|
|
- **uint32_t count()** the amount of angles added.
|
|
- **float getAverage() ** returns the average.
|
|
- **float getTotalLength() ** the length of the resulting 'angle' when we see them as vectors.
|
|
- **float getAverageLength()** returns the average length of the angles added.
|
|
- **AngleType type()** returns DEGREES = 0, RADIANS = 1 or GRADIANS = 2.
|
|
- **void setType(AngleType type)** changes type DEGREES, RADIANS or GRADIANS.
|
|
|
|
|
|
## Gradians
|
|
|
|
Gradians a.k.a. gon, is a less often used unit for angles.
|
|
There are 100 gradians in a right angle. A full circle = 400 gradians.
|
|
|
|
https://en.wikipedia.org/wiki/Gradian
|
|
|
|
|
|
## Operation
|
|
|
|
If you want to average 5 compass readings you can just add the angles and
|
|
do not use the length parameter.
|
|
```cpp
|
|
AA.reset();
|
|
for (int i = 0; i < 5; i++)
|
|
{
|
|
AA.add(compass.readHeading());
|
|
delay(100); // e.g. compass read needs some time
|
|
}
|
|
Serial.println(AA.getAverage());
|
|
```
|
|
|
|
|
|
If you want to average a track, e.g. 5 steps North, 3 steps west etc,
|
|
you need to include the length of each step.
|
|
```cpp
|
|
AA.reset();
|
|
AA.add(90, 5); // 5 steps north
|
|
AA.add(180, 3); // 3 steps west
|
|
Serial.println(AA.getAverage());
|
|
Serial.println(AA.getTotalLength());
|
|
```
|
|
|
|
|
|
## Future
|
|
|
|
- Improve documentation.
|
|
- check if other units exist to support.
|
|
|
|
|