# Continuous Angle

Utility that converts a discontinuous bounded angle into
a continuous unbounded angle

## Description

The Continuous Angle block converts a measured angle signal
restricted to the semiopen interval (-180^{o},
+180^{o}] degrees or (-π,+π] radians
to a continuous, unbounded angle not restricted to any interval. This
block requires the angle and the angular velocity as input signals.
The continuous, unbounded angle is the output signal.

**Caution**
Each Continuous Angle block in a model adds a normal Simulink^{®} state
to the model. Use this block with caution if you are trimming or linearizing
your model.
The Continuous Angle block does not add any mechanical states
to your model. |

The Joint Sensor block outputs
the absolute rotational measurement of revolute motion as a bounded
angle in the interval (-180^{o}, +180^{o}]
degrees or (-π,+π] radians. Motion that crosses the boundaries
of this interval causes discontinuities in the measured angle, from
+180^{o} to -180^{o} or
vice versa. Use the Continuous Angle block if you want to convert
this restricted angular measurement to an unbounded measurement.

## Dialog Box and Parameters

The dialog has one active area, **Parameters**.

## Parameters

**Angle measured in**Choose the units for the input angle and the output continuous
angle, either `deg`

(degrees) or `rad`

(radians).
The default is `deg`

.

**Rate measured in**Choose the units for the input rate (angular velocity), either `deg/s`

(degrees/second)
or `rad/s`

(radians/second). The default is `deg/s`

## Example

The tutorial Model and Simulate a Closed-Loop Machine produces
this angular motion output for the Revolute3 and Revolute 2 joints:

The Revolute3 angle is restricted to the interval (-180^{o},
+180^{o}], so values passing either limit
of this interval are mapped to the opposite end of the interval. The
Revolute2 angle is not restricted, but instead touches genuine turning
points in its motion.

After passing the angles and angular velocities through Continuous
Angle blocks, the Revolute3 angular motion appears different:

Revolute3's motion is unchanged, but its angle is now continuous,
with no interval restriction. Revolute2's angle is unchanged.