[Request]: atan2 sensor #104
Description
Implementation PR
No response
Reference Issues
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Summary
Create a new sensor that utilizes the atan2 function to calculate the angle from two analog inputs: cos and sin
Basic Example
auto* sin_sensor = new AnalogSensor(PIN_SIN);
auto* cos_sensor = new AnalogSensor(PIN_COS);
// (0.0F, 1.0F) => (-1.0F, 1.0F)
auto* sincos_filter = new LambdaFilter<float>([](float value) {
return value * 2.0F - 1.0F;
});
sin_sensor->addFilter(sincos_filter);
cos_sensor->addFilter(sincos_filter);
atan2_sensor = new Atan2Sensor(sin_sensor, cos_sensor);/// Sensor that calculates the atan2 of two sensors
template<typename Tp = float>
class Atan2Sensor : public Sensor<Tp> {
static_assert(std::is_floating_point_v<Tp>, "Tp must be a floating point type");
public:
using Source = Sensor<Tp>;
Atan2Sensor(Source* sin, Source* cos) : sin_(sin), cos_(cos){};
void init() override
{
SS_SUBSENSOR_INIT(this->sin_, false, [this](float /*value*/) {
this->recalculateState();
});
SS_SUBSENSOR_INIT(this->cos_, false, [this](float /*value*/) {
this->recalculateState();
});
}
inline void tick() override { this->recalculateState(); }
void recalculateState()
{
const Tp sin = this->sin_->getValue();
const Tp cos = this->cos_->getValue();
if (sin == 0.0F && cos == 0.0F) {
this->publishState(0.0F);
return;
}
const Tp radians = std::atan2(sin, cos);
this->publishState(radians);
}
private:
Source* sin_;
Source* cos_;
};More examples:
Drawbacks
- The approach above requires applying a custom filter to the sensor.
Unresolved questions
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