From 55775d4b937f8159596524cc74b344d4161540a8 Mon Sep 17 00:00:00 2001 From: Lucien Renaud Date: Tue, 24 May 2022 19:18:17 +0200 Subject: [PATCH] Update readme: fix math --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 329e833..005fbc0 100644 --- a/README.md +++ b/README.md @@ -48,13 +48,15 @@ We can see that in the first movement (positive rotation), the green is out of p 1. Get the absolute angle within a period Since the 2 signals correspond to a cos and sin signals, it is possible to compute the angle inside the period using arctan2 function. However, we have more than one period, it is so necessary to increment a position. -$$\theta= atan2(a,b)$$ + +$\theta= atan2(a,b)$ 2. Incremental position To increment the position, it is necessary to start from 0 at a known postion. For that the motor is moved in open loop to one end and the position is set to 0. Then we need to sum all the delta of movement at each measure sample. -$$\phi_t=\phi_{t-1} + (\theta_t - \theta_{t-1})mod(-\pi;\pi)$$ + +$\phi_t=\phi_{t-1} + (\theta_t - \theta_{t-1})mod(-\pi;\pi)$ ## Coding the solution 1. Get the angle in the perdiod