FSG
/
PosVelFilter
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Fork of
PosVelFilter_7_14
by 
Troy Holley
Diff: PosVelFilter.hpp
- Revision:
- 0:82f27e7e99f0
- Child:
- 2:992e774dc62a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PosVelFilter.hpp Thu Apr 27 13:15:55 2017 +0000
@@ -0,0 +1,42 @@
+#ifndef MBED_DEPTHFILTER_H
+#define MBED_DEPTHFILTER_H
+
+#include "mbed.h"
+
+class PosVelFilter
+{
+public:
+ PosVelFilter();
+
+ void update();
+
+ void init();
+
+ float getPosition();
+ float getVelocity();
+ float getDt();
+
+ // void setConfigFlag();
+ void writeWn(float wn);
+
+protected:
+ float x1;
+ float x2;
+ float x2_dot;
+ float x1_dot;
+ float w_n;
+
+ float last_time;
+ float curr_time;
+ float dt;
+
+ float conv_distance;
+ float position;
+ float velocity;
+
+ // bool readConfiguration();
+ // bool configFlag;
+ // int count;
+};
+
+#endif
\ No newline at end of file