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These are the core files for the Robot at Team conception.
LowpassFilter.cpp@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
Paulhd182 | 2:644553c019c5 | 1 | /* |
Paulhd182 | 2:644553c019c5 | 2 | * LowpassFilter.cpp |
Paulhd182 | 2:644553c019c5 | 3 | * Copyright (c) 2016, ZHAW |
Paulhd182 | 2:644553c019c5 | 4 | * All rights reserved. |
Paulhd182 | 2:644553c019c5 | 5 | */ |
Paulhd182 | 2:644553c019c5 | 6 | |
Paulhd182 | 2:644553c019c5 | 7 | #include "LowpassFilter.h" |
Paulhd182 | 2:644553c019c5 | 8 | |
Paulhd182 | 2:644553c019c5 | 9 | using namespace std; |
Paulhd182 | 2:644553c019c5 | 10 | |
Paulhd182 | 2:644553c019c5 | 11 | /** |
Paulhd182 | 2:644553c019c5 | 12 | * Creates a LowpassFilter object with a default corner frequency of 1000 [rad/s]. |
Paulhd182 | 2:644553c019c5 | 13 | */ |
Paulhd182 | 2:644553c019c5 | 14 | LowpassFilter::LowpassFilter() { |
Paulhd182 | 2:644553c019c5 | 15 | |
Paulhd182 | 2:644553c019c5 | 16 | period = 1.0f; |
Paulhd182 | 2:644553c019c5 | 17 | frequency = 1000.0f; |
Paulhd182 | 2:644553c019c5 | 18 | |
Paulhd182 | 2:644553c019c5 | 19 | a11 = (1.0f+frequency*period)*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 20 | a12 = period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 21 | a21 = -frequency*frequency*period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 22 | a22 = (1.0f-frequency*period)*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 23 | b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency; |
Paulhd182 | 2:644553c019c5 | 24 | b2 = period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 25 | |
Paulhd182 | 2:644553c019c5 | 26 | x1 = 0.0f; |
Paulhd182 | 2:644553c019c5 | 27 | x2 = 0.0f; |
Paulhd182 | 2:644553c019c5 | 28 | } |
Paulhd182 | 2:644553c019c5 | 29 | |
Paulhd182 | 2:644553c019c5 | 30 | /** |
Paulhd182 | 2:644553c019c5 | 31 | * Deletes the LowpassFilter object. |
Paulhd182 | 2:644553c019c5 | 32 | */ |
Paulhd182 | 2:644553c019c5 | 33 | LowpassFilter::~LowpassFilter() {} |
Paulhd182 | 2:644553c019c5 | 34 | |
Paulhd182 | 2:644553c019c5 | 35 | /** |
Paulhd182 | 2:644553c019c5 | 36 | * Resets the filtered value to zero. |
Paulhd182 | 2:644553c019c5 | 37 | */ |
Paulhd182 | 2:644553c019c5 | 38 | void LowpassFilter::reset() { |
Paulhd182 | 2:644553c019c5 | 39 | |
Paulhd182 | 2:644553c019c5 | 40 | x1 = 0.0f; |
Paulhd182 | 2:644553c019c5 | 41 | x2 = 0.0f; |
Paulhd182 | 2:644553c019c5 | 42 | } |
Paulhd182 | 2:644553c019c5 | 43 | |
Paulhd182 | 2:644553c019c5 | 44 | /** |
Paulhd182 | 2:644553c019c5 | 45 | * Resets the filtered value to a given value. |
Paulhd182 | 2:644553c019c5 | 46 | * @param value the value to reset the filter to. |
Paulhd182 | 2:644553c019c5 | 47 | */ |
Paulhd182 | 2:644553c019c5 | 48 | void LowpassFilter::reset(float value) { |
Paulhd182 | 2:644553c019c5 | 49 | |
Paulhd182 | 2:644553c019c5 | 50 | x1 = value/frequency/frequency; |
Paulhd182 | 2:644553c019c5 | 51 | x2 = (x1-a11*x1-b1*value)/a12; |
Paulhd182 | 2:644553c019c5 | 52 | } |
Paulhd182 | 2:644553c019c5 | 53 | |
Paulhd182 | 2:644553c019c5 | 54 | /** |
Paulhd182 | 2:644553c019c5 | 55 | * Sets the sampling period of the filter. |
Paulhd182 | 2:644553c019c5 | 56 | * This is typically the sampling period of the realtime thread of a controller that uses this filter. |
Paulhd182 | 2:644553c019c5 | 57 | * @param the sampling period, given in [s]. |
Paulhd182 | 2:644553c019c5 | 58 | */ |
Paulhd182 | 2:644553c019c5 | 59 | void LowpassFilter::setPeriod(float period) { |
Paulhd182 | 2:644553c019c5 | 60 | |
Paulhd182 | 2:644553c019c5 | 61 | this->period = period; |
Paulhd182 | 2:644553c019c5 | 62 | |
Paulhd182 | 2:644553c019c5 | 63 | a11 = (1.0f+frequency*period)*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 64 | a12 = period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 65 | a21 = -frequency*frequency*period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 66 | a22 = (1.0f-frequency*period)*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 67 | b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency; |
Paulhd182 | 2:644553c019c5 | 68 | b2 = period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 69 | } |
Paulhd182 | 2:644553c019c5 | 70 | |
Paulhd182 | 2:644553c019c5 | 71 | /** |
Paulhd182 | 2:644553c019c5 | 72 | * Sets the corner frequency of this filter. |
Paulhd182 | 2:644553c019c5 | 73 | * @param frequency the corner frequency of the filter in [rad/s]. |
Paulhd182 | 2:644553c019c5 | 74 | */ |
Paulhd182 | 2:644553c019c5 | 75 | void LowpassFilter::setFrequency(float frequency) { |
Paulhd182 | 2:644553c019c5 | 76 | |
Paulhd182 | 2:644553c019c5 | 77 | this->frequency = frequency; |
Paulhd182 | 2:644553c019c5 | 78 | |
Paulhd182 | 2:644553c019c5 | 79 | a11 = (1.0f+frequency*period)*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 80 | a12 = period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 81 | a21 = -frequency*frequency*period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 82 | a22 = (1.0f-frequency*period)*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 83 | b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency; |
Paulhd182 | 2:644553c019c5 | 84 | b2 = period*exp(-frequency*period); |
Paulhd182 | 2:644553c019c5 | 85 | } |
Paulhd182 | 2:644553c019c5 | 86 | |
Paulhd182 | 2:644553c019c5 | 87 | /** |
Paulhd182 | 2:644553c019c5 | 88 | * Gets the current corner frequency of this filter. |
Paulhd182 | 2:644553c019c5 | 89 | * @return the current corner frequency in [rad/s]. |
Paulhd182 | 2:644553c019c5 | 90 | */ |
Paulhd182 | 2:644553c019c5 | 91 | float LowpassFilter::getFrequency() { |
Paulhd182 | 2:644553c019c5 | 92 | |
Paulhd182 | 2:644553c019c5 | 93 | return frequency; |
Paulhd182 | 2:644553c019c5 | 94 | } |
Paulhd182 | 2:644553c019c5 | 95 | |
Paulhd182 | 2:644553c019c5 | 96 | /** |
Paulhd182 | 2:644553c019c5 | 97 | * Filters a value. |
Paulhd182 | 2:644553c019c5 | 98 | * @param value the original unfiltered value. |
Paulhd182 | 2:644553c019c5 | 99 | * @return the filtered value. |
Paulhd182 | 2:644553c019c5 | 100 | */ |
Paulhd182 | 2:644553c019c5 | 101 | float LowpassFilter::filter(float value) { |
Paulhd182 | 2:644553c019c5 | 102 | |
Paulhd182 | 2:644553c019c5 | 103 | float x1old = x1; |
Paulhd182 | 2:644553c019c5 | 104 | float x2old = x2; |
Paulhd182 | 2:644553c019c5 | 105 | |
Paulhd182 | 2:644553c019c5 | 106 | x1 = a11*x1old+a12*x2old+b1*value; |
Paulhd182 | 2:644553c019c5 | 107 | x2 = a21*x1old+a22*x2old+b2*value; |
Paulhd182 | 2:644553c019c5 | 108 | |
Paulhd182 | 2:644553c019c5 | 109 | return frequency*frequency*x1; |
Paulhd182 | 2:644553c019c5 | 110 | } |