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45 lines
969 B
C++
45 lines
969 B
C++
#pragma once
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//
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// FILE: runningAngle.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.1.2
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// PURPOSE: Library to average angles by means of low pass filtering with wrapping.
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#include "Arduino.h"
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#include "math.h"
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#define RUNNING_ANGLE_LIB_VERSION (F("0.1.2"))
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class runningAngle
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{
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public:
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enum AngleType { DEGREES, RADIANS };
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runningAngle(const enum AngleType type = DEGREES);
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// first value added will not use the weight to set the initial value.
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float add(float angle); // returns new average
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void reset();
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float getAverage() { return _average; };
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void setWeight(float w) { _weight = constrain(w, 0.001, 1); };
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float getWeight() { return _weight; };
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enum AngleType type() { return _type; };
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// reformat angle to -180..+180 (degrees) or -PI..PI (radians)
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float wrap(float angle);
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private:
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enum AngleType _type;
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float _average = 0;
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float _weight;
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bool _reset;
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};
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// -- END OF FILE --
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