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testing math

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Lucien Renaud 2022-11-18 15:02:18 +01:00
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@ -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 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. 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 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. 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. 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 ## Coding the solution