Gruppe 3 / Mbed 2 deprecated PES3

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Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

EncoderCounter/LowpassFilter.h@21:69ee872b8ee9, 2017-05-16 (annotated)

Committer:
itslinear
Date:
Tue May 16 16:09:08 2017 +0000
Revision:
21:69ee872b8ee9
Parent:
18:3ee1b02ed3aa 
sieg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itslinear 18:3ee1b02ed3aa 1 /*
itslinear 18:3ee1b02ed3aa 2 * LowpassFilter.h
itslinear 18:3ee1b02ed3aa 3 * Copyright (c) 2016, ZHAW
itslinear 18:3ee1b02ed3aa 4 * All rights reserved.
itslinear 18:3ee1b02ed3aa 5 */
itslinear 18:3ee1b02ed3aa 6
itslinear 18:3ee1b02ed3aa 7 #ifndef LOWPASS_FILTER_H_
itslinear 18:3ee1b02ed3aa 8 #define LOWPASS_FILTER_H_
itslinear 18:3ee1b02ed3aa 9
itslinear 18:3ee1b02ed3aa 10 #include <cstdlib>
itslinear 18:3ee1b02ed3aa 11 #include <cmath>
itslinear 18:3ee1b02ed3aa 12
itslinear 18:3ee1b02ed3aa 13 /**
itslinear 18:3ee1b02ed3aa 14 * This class implements a time-discrete 2nd order low-pass filter for a series of data values.
itslinear 18:3ee1b02ed3aa 15 * This filter can typically be used within a periodic task that takes measurements that need
itslinear 18:3ee1b02ed3aa 16 * to be filtered, like speed or position values.
itslinear 18:3ee1b02ed3aa 17 */
itslinear 18:3ee1b02ed3aa 18 class LowpassFilter {
itslinear 18:3ee1b02ed3aa 19
itslinear 18:3ee1b02ed3aa 20 public:
itslinear 18:3ee1b02ed3aa 21
itslinear 18:3ee1b02ed3aa 22 LowpassFilter();
itslinear 18:3ee1b02ed3aa 23 virtual ~LowpassFilter();
itslinear 18:3ee1b02ed3aa 24 void reset();
itslinear 18:3ee1b02ed3aa 25 void reset(float value);
itslinear 18:3ee1b02ed3aa 26 void setPeriod(float period);
itslinear 18:3ee1b02ed3aa 27 void setFrequency(float frequency);
itslinear 18:3ee1b02ed3aa 28 float getFrequency();
itslinear 18:3ee1b02ed3aa 29 float filter(float value);
itslinear 18:3ee1b02ed3aa 30
itslinear 18:3ee1b02ed3aa 31 private:
itslinear 18:3ee1b02ed3aa 32
itslinear 18:3ee1b02ed3aa 33 float period;
itslinear 18:3ee1b02ed3aa 34 float frequency;
itslinear 18:3ee1b02ed3aa 35 float a11, a12, a21, a22, b1, b2;
itslinear 18:3ee1b02ed3aa 36 float x1, x2;
itslinear 18:3ee1b02ed3aa 37 };
itslinear 18:3ee1b02ed3aa 38
itslinear 18:3ee1b02ed3aa 39 #endif /* LOWPASS_FILTER_H_ */