C++ Class for measurement motor velocity with high precision

This C++ class makes measurement motor velocity based on the S Method. S Method is proposed by Dr. Tsuji realizes measurement velocity with high precision using encoder pulse alteration.

If you need more technical information, you can get following article:

T. Tsuji, T. Hashimoto, H. Kobayashi, M. Mizuochi and K. Ohnishi, "A Wide-Range Velocity Measurement Method for Motion Control," in IEEE Transactions on Industrial Electronics, vol. 56, no. 2, pp. 510-519, Feb. 2009, doi: 10.1109/TIE.2008.2003208.

Using Class

int main(){
    double pulse = 0.0; //Encoder Pulses [pulses]
    double wm = 0.0;    //Angular velocity[rad/s]
    SMethod sm{1000, 0.001, 300};

    /* loop */
    while(true){
        wm = sm.GetSpeed(pulse); //measurement velocity
    }

    return 0;
}