jens
f59fb8f67d
git-svn-id: http://moon:8086/svn/matlab/trunk@100 801c6759-fa7c-4059-a304-17956f83a07c
51 lines
1.4 KiB
Objective-C
Executable File
51 lines
1.4 KiB
Objective-C
Executable File
## Copyright (C) 2018 Jens Ahrensfeld
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##
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## This program is free software; you can redistribute it and/or modify it
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## under the terms of the GNU General Public License as published by
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## the Free Software Foundation; either version 3 of the License, or
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## (at your option) any later version.
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##
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## This program is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU General Public License for more details.
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##
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## You should have received a copy of the GNU General Public License
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## along with this program. If not, see <http://www.gnu.org/licenses/>.
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## -*- texinfo -*-
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## @deftypefn {Function File} {@var{retval} =} motor_eval (@var{input1}, @var{input2})
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##
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## @seealso{}
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## @end deftypefn
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## Author: Jens Ahrensfeld <ahrensfeld@w2ess001vm>
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## Created: 2018-08-01
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function cnt_expected = motor_eval (cnt_tooth, cnt, round_mode)
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cnt_expected = 0
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cnt_err = mod(abs(cnt),cnt_tooth);
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if (cnt_err >= 0.5*cnt_tooth)
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cnt_err = cnt_err - cnt_tooth;
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end
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if strcmpi(round_mode, 'nearest')
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cnt_expected = cnt - sign(cnt)*cnt_err;
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elseif strcmpi(round_mode, 'positive')
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cnt_expected = cnt - cnt_err
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if (cnt < 0)
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cnt_expected = cnt - cnt_err + cnt_tooth
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end
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elseif strcmpi(round_mode, 'negative')
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cnt_expected = cnt - cnt_err
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end
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err = cnt - cnt_expected
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endfunction
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