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58 lines
1.3 KiB
C++
58 lines
1.3 KiB
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: 0.2.1
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// PURPOSE: Library to average angles by means of low pass filtering with wrapping.
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// URL: https://github.com/RobTillaart/runningAngle
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// RELATED: https://github.com/RobTillaart/AverageAngle
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#include "Arduino.h"
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#include "math.h"
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#define RUNNING_ANGLE_LIB_VERSION (F("0.2.1"))
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const float RA_DEFAULT_WEIGHT = 0.80;
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const float RA_MIN_WEIGHT = 0.001;
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const float RA_MAX_WEIGHT = 1.0;
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class runningAngle
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{
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public:
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enum AngleType { DEGREES = 0, RADIANS = 1, GRADIANS = 2 };
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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();
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bool setWeight(float w = RA_DEFAULT_WEIGHT);
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float getWeight();
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enum AngleType 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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// select the output
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void setMode0(); // -180..180
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void setMode1(); // 0..360
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uint8_t getMode();
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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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uint16_t _mode = 0;
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};
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// -- END OF FILE --
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