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Changed float to double #2

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merged 1 commit into from
Apr 9, 2023
Merged

Changed float to double #2

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24 changes: 12 additions & 12 deletions MovingAverageAngle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,18 +46,18 @@ class MovingAverageAngle {
MovingAverageAngle();
virtual ~MovingAverageAngle(void);

float add(float value);
float get();
void fill(float value);
double add(double value);
double get();
void fill(double value);
void reset();

private:
MovingAverage <int32_t, N> _filterSin;
MovingAverage <int32_t, N> _filterCos;

float toRadian(float value);
double toRadian(double value);

float _result;
double _result;
};

template <uint8_t N>
Expand All @@ -70,16 +70,16 @@ MovingAverageAngle<N>::~MovingAverageAngle(void) {
}

template <uint8_t N>
float MovingAverageAngle<N>::get() {
double MovingAverageAngle<N>::get() {
return _result;
}

template <uint8_t N>
float MovingAverageAngle<N>::add(float value) {
float radian = toRadian(value);
double MovingAverageAngle<N>::add(double value) {
double radian = toRadian(value);
double s = static_cast<double>(_filterSin.add(static_cast<int32_t>(sin(radian) * 10000000))) / 10000000.0;
double c = static_cast<double>(_filterCos.add(static_cast<int32_t>(cos(radian) * 10000000))) / 10000000.0;
float deg = atan2(s, c) * RAD_TO_DEG;
double deg = atan2(s, c) * RAD_TO_DEG;

if (deg < 0) deg += 360.0;

Expand All @@ -91,8 +91,8 @@ float MovingAverageAngle<N>::add(float value) {
}

template <uint8_t N>
void MovingAverageAngle<N>::fill(float value) {
float radian = toRadian(value);
void MovingAverageAngle<N>::fill(double value) {
double radian = toRadian(value);

_filterSin.fill(static_cast<int32_t>(sin(radian) * 10000000));
_filterCos.fill(static_cast<int32_t>(cos(radian) * 10000000));
Expand All @@ -105,7 +105,7 @@ void MovingAverageAngle<N>::reset() {
}

template <uint8_t N>
float MovingAverageAngle<N>::toRadian(float value) {
double MovingAverageAngle<N>::toRadian(double value) {
return value * DEG_TO_RAD;
}

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