[python-control-discuss] SF.net SVN: python-control:[142] trunk/src/ctrlutil.py

[<bli...@us...>]

Revision: 142
          http://python-control.svn.sourceforge.net/python-control/?rev=142&view=rev
Author:   blinkminster
Date:     2011-03-31 16:43:19 +0000 (Thu, 31 Mar 2011)

Log Message:
-----------
updated control.unwrap to unwrap phase changes greater than 2pi

Modified Paths:
--------------
    trunk/src/ctrlutil.py

Modified: trunk/src/ctrlutil.py
===================================================================
--- trunk/src/ctrlutil.py	2011-03-30 19:41:58 UTC (rev 141)
+++ trunk/src/ctrlutil.py	2011-03-31 16:43:19 UTC (rev 142)
@@ -71,9 +71,9 @@
     for k in range(len(angle)):
         # See if we need to account for angle wrapping
         if (angle[k] - last > period/2):
-            wrap = -period
+            wrap -= period
         elif (last - angle[k] > period/2):
-            wrap = period
+            wrap += period
 
         # Update the last value we have sene
         last = angle[k]


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