Diff: CURRENT_CONTROL.h

Revision:

3:c787d1c5ad6a

Parent:

2:562bd14dfd3a

Child:

4:1a6ba05e7736

--- a/CURRENT_CONTROL.h	Fri Apr 22 15:21:31 2016 +0000
+++ b/CURRENT_CONTROL.h	Fri Apr 22 16:29:35 2016 +0000
@@ -5,6 +5,19 @@
 #include "PID.h"
 
 
+
+class LPF
+{public:
+    float output, outputLast;
+    
+    LPF(float samplingTime);
+    float filter(float input, float cutOff);
+    
+private:
+    float Ts;    
+};
+
+
 class CURRENT_CONTROL
 {
 public:
@@ -16,6 +29,7 @@
     CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, PWMIndex pwmIndex, float Kp, float Ki, float Kd, float samplingTime);
     void Control(float curRef);
     void SetAnalog2Cur(float ratio);
+    
     //functions for test////////
     void ChangePwmPeriod(float microSeconds);
     void SetPWMDuty(float ratio);
@@ -34,6 +48,9 @@
     AnalogIn currentAnalogIn;
     float analogInValue;
     
+    LPF lpFilter;
+    
+    
 private:
 
     float Ts;
@@ -71,4 +88,6 @@
 
 
 
+
+
 #endif
\ No newline at end of file