DeltaT.hpp

浏览该文件的文档.

#ifndef DELTAT_HPP
#define DELTAT_HPP
 
#ifdef ONE_MOTOR_LINUX
#include <chrono>
#endif
 
#include <cstdint>
 
#include "Arithmetic.hpp"
 
namespace OneMotor
{
    template <Arithmetic T = float>
    class DeltaT
    {
    public:
        DeltaT();

        T getDeltaMS();

        void reset();
 
    private:
#ifdef ONE_MOTOR_LINUX
        std::chrono::time_point<std::chrono::steady_clock> last_time; 
#else
#ifdef CONFIG_TIMER_HAS_64BIT_CYCLE_COUNTER
        uint64_t last_time_cycles;
#else
        uint32_t last_time_cycles;
#endif
#endif
    };
}
 
#endif //DELTAT_HPP