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Lucien Renaud 2022-05-24 19:25:09 +02:00
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@ -48,11 +48,8 @@ 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.
```math
$$\theta= atan2(a,b)$$
\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.