Gruppe 3 / Mbed 2 deprecated PES4

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Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

EncoderCounter/LowpassFilter.h@18:6547e54ac803, 2017-05-09 (annotated)

Committer:
itslinear
Date:
Tue May 09 13:21:49 2017 +0000
Revision:
18:6547e54ac803
f?r holdi;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itslinear 18:6547e54ac803 1 /*
itslinear 18:6547e54ac803 2 * LowpassFilter.h
itslinear 18:6547e54ac803 3 * Copyright (c) 2016, ZHAW
itslinear 18:6547e54ac803 4 * All rights reserved.
itslinear 18:6547e54ac803 5 */
itslinear 18:6547e54ac803 6
itslinear 18:6547e54ac803 7 #ifndef LOWPASS_FILTER_H_
itslinear 18:6547e54ac803 8 #define LOWPASS_FILTER_H_
itslinear 18:6547e54ac803 9
itslinear 18:6547e54ac803 10 #include <cstdlib>
itslinear 18:6547e54ac803 11 #include <cmath>
itslinear 18:6547e54ac803 12
itslinear 18:6547e54ac803 13 /**
itslinear 18:6547e54ac803 14 * This class implements a time-discrete 2nd order low-pass filter for a series of data values.
itslinear 18:6547e54ac803 15 * This filter can typically be used within a periodic task that takes measurements that need
itslinear 18:6547e54ac803 16 * to be filtered, like speed or position values.
itslinear 18:6547e54ac803 17 */
itslinear 18:6547e54ac803 18 class LowpassFilter {
itslinear 18:6547e54ac803 19
itslinear 18:6547e54ac803 20 public:
itslinear 18:6547e54ac803 21
itslinear 18:6547e54ac803 22 LowpassFilter();
itslinear 18:6547e54ac803 23 virtual ~LowpassFilter();
itslinear 18:6547e54ac803 24 void reset();
itslinear 18:6547e54ac803 25 void reset(float value);
itslinear 18:6547e54ac803 26 void setPeriod(float period);
itslinear 18:6547e54ac803 27 void setFrequency(float frequency);
itslinear 18:6547e54ac803 28 float getFrequency();
itslinear 18:6547e54ac803 29 float filter(float value);
itslinear 18:6547e54ac803 30
itslinear 18:6547e54ac803 31 private:
itslinear 18:6547e54ac803 32
itslinear 18:6547e54ac803 33 float period;
itslinear 18:6547e54ac803 34 float frequency;
itslinear 18:6547e54ac803 35 float a11, a12, a21, a22, b1, b2;
itslinear 18:6547e54ac803 36 float x1, x2;
itslinear 18:6547e54ac803 37 };
itslinear 18:6547e54ac803 38
itslinear 18:6547e54ac803 39 #endif /* LOWPASS_FILTER_H_ */