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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