From aa2e898c0b6d9e4763ebd08b9e4966083197241a Mon Sep 17 00:00:00 2001 From: Lucien Renaud Date: Fri, 18 Nov 2022 15:02:18 +0100 Subject: [PATCH] testing math --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 5d0f47c..4486a18 100644 --- a/README.md +++ b/README.md @@ -48,12 +48,14 @@ 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. + $$\theta= atan2(a,b)$$ 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. + $$\phi_t=\phi_{t-1} + (\theta_t - \theta_{t-1})mod(-\pi;\pi)$$ ## Coding the solution