Mechatronics Robotics / Mbed 2 deprecated BrobotV1

These are the core files for the Robot at Team conception.

Dependencies:   mbed UniServ

LowpassFilter.h@2:644553c019c5, 2017-05-26 (annotated)

Committer:
Paulhd182
Date:
Fri May 26 08:34:21 2017 +0000
Revision:
2:644553c019c5
Added encodercounter and lowpassfilter classes; PHD

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Paulhd182 2:644553c019c5 1 /*
Paulhd182 2:644553c019c5 2 * LowpassFilter.h
Paulhd182 2:644553c019c5 3 * Copyright (c) 2016, ZHAW honr
Paulhd182 2:644553c019c5 4 * All rights reserved.
Paulhd182 2:644553c019c5 5 */
Paulhd182 2:644553c019c5 6
Paulhd182 2:644553c019c5 7 #ifndef LOWPASS_FILTER_H_
Paulhd182 2:644553c019c5 8 #define LOWPASS_FILTER_H_
Paulhd182 2:644553c019c5 9
Paulhd182 2:644553c019c5 10 #include <cstdlib>
Paulhd182 2:644553c019c5 11 #include <cmath>
Paulhd182 2:644553c019c5 12
Paulhd182 2:644553c019c5 13 /**
Paulhd182 2:644553c019c5 14 * This class implements a time-discrete 2nd order low-pass filter for a series of data values.
Paulhd182 2:644553c019c5 15 * This filter can typically be used within a periodic task that takes measurements that need
Paulhd182 2:644553c019c5 16 * to be filtered, like speed or position values.
Paulhd182 2:644553c019c5 17 */
Paulhd182 2:644553c019c5 18 class LowpassFilter {
Paulhd182 2:644553c019c5 19
Paulhd182 2:644553c019c5 20 public:
Paulhd182 2:644553c019c5 21
Paulhd182 2:644553c019c5 22 LowpassFilter();
Paulhd182 2:644553c019c5 23 virtual ~LowpassFilter();
Paulhd182 2:644553c019c5 24 void reset();
Paulhd182 2:644553c019c5 25 void reset(float value);
Paulhd182 2:644553c019c5 26 void setPeriod(float period);
Paulhd182 2:644553c019c5 27 void setFrequency(float frequency);
Paulhd182 2:644553c019c5 28 float getFrequency();
Paulhd182 2:644553c019c5 29 float filter(float value);
Paulhd182 2:644553c019c5 30
Paulhd182 2:644553c019c5 31 private:
Paulhd182 2:644553c019c5 32
Paulhd182 2:644553c019c5 33 float period;
Paulhd182 2:644553c019c5 34 float frequency;
Paulhd182 2:644553c019c5 35 float a11, a12, a21, a22, b1, b2;
Paulhd182 2:644553c019c5 36 float x1, x2;
Paulhd182 2:644553c019c5 37 };
Paulhd182 2:644553c019c5 38
Paulhd182 2:644553c019c5 39 #endif /* LOWPASS_FILTER_H_ */