EasyCRT.hpp File Reference

Absolute angle solver for a gear that turns more than once, read by two absolute encoders. More...

#include <optional>
#include <wpi/units/angle.hpp>

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Classes
class	yams::units::EasyCRT

Namespaces
namespace	yams
namespace	yams::units

Detailed Description

Absolute angle solver for a gear that turns more than once, read by two absolute encoders.

#include "yams/units/EasyCRT.hpp"
 
// 100 tooth turret gear, 19 tooth pinion on encoder A, 21 tooth pinion on encoder B.
yams::units::EasyCRT crt{100, 19, 21};
 
// Read once at startup, while the mechanism is not moving.
std::optional<wpi::units::turn_t> turretAngle =
    crt.Solve(encoderA.GetAbsolutePosition().GetValue(),
              encoderB.GetAbsolutePosition().GetValue());