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git-svn-id: http://moon:8086/svn/matlab/trunk@100 801c6759-fa7c-4059-a304-17956f83a07c

motor_eval.m

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+## Copyright (C) 2018 Jens Ahrensfeld
+## 
+## This program is free software; you can redistribute it and/or modify it
+## under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 3 of the License, or
+## (at your option) any later version.
+## 
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+## 
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*- 
+## @deftypefn {Function File} {@var{retval} =} motor_eval (@var{input1}, @var{input2})
+##
+## @seealso{}
+## @end deftypefn
+
+## Author: Jens Ahrensfeld <ahrensfeld@w2ess001vm>
+## Created: 2018-08-01
+
+function cnt_expected = motor_eval (cnt_tooth, cnt, round_mode)
+
+cnt_expected = 0
+
+cnt_err = mod(abs(cnt),cnt_tooth);
+if (cnt_err >= 0.5*cnt_tooth)
+  cnt_err = cnt_err - cnt_tooth;
+end
+
+if strcmpi(round_mode, 'nearest')
+	cnt_expected = cnt - sign(cnt)*cnt_err;
+
+elseif strcmpi(round_mode, 'positive')
+	cnt_expected = cnt - cnt_err 
+	if (cnt < 0)
+		cnt_expected = cnt - cnt_err + cnt_tooth
+	end
+
+elseif strcmpi(round_mode, 'negative')
+	cnt_expected = cnt - cnt_err
+
+end
+
+err = cnt - cnt_expected
+
+endfunction