most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
PosVelFilter/PosVelFilter.hpp@9:d5fcdcb3c89d, 2017-10-20 (annotated)
- Committer:
- mkelly10
- Date:
- Fri Oct 20 11:41:22 2017 +0000
- Revision:
- 9:d5fcdcb3c89d
- Child:
- 10:085ab7328054
Tested 10/19/17 Folders
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mkelly10 | 9:d5fcdcb3c89d | 1 | #ifndef MBED_DEPTHFILTER_H |
mkelly10 | 9:d5fcdcb3c89d | 2 | #define MBED_DEPTHFILTER_H |
mkelly10 | 9:d5fcdcb3c89d | 3 | |
mkelly10 | 9:d5fcdcb3c89d | 4 | #include "mbed.h" |
mkelly10 | 9:d5fcdcb3c89d | 5 | |
mkelly10 | 9:d5fcdcb3c89d | 6 | class PosVelFilter |
mkelly10 | 9:d5fcdcb3c89d | 7 | { |
mkelly10 | 9:d5fcdcb3c89d | 8 | public: |
mkelly10 | 9:d5fcdcb3c89d | 9 | PosVelFilter(); |
mkelly10 | 9:d5fcdcb3c89d | 10 | |
mkelly10 | 9:d5fcdcb3c89d | 11 | void update(float deltaT, float counts); |
mkelly10 | 9:d5fcdcb3c89d | 12 | |
mkelly10 | 9:d5fcdcb3c89d | 13 | void init(); |
mkelly10 | 9:d5fcdcb3c89d | 14 | |
mkelly10 | 9:d5fcdcb3c89d | 15 | float getPosition(); |
mkelly10 | 9:d5fcdcb3c89d | 16 | float getVelocity(); |
mkelly10 | 9:d5fcdcb3c89d | 17 | float getDt(); |
mkelly10 | 9:d5fcdcb3c89d | 18 | |
mkelly10 | 9:d5fcdcb3c89d | 19 | // void setConfigFlag(); |
mkelly10 | 9:d5fcdcb3c89d | 20 | void writeWn(float wn); |
mkelly10 | 9:d5fcdcb3c89d | 21 | |
mkelly10 | 9:d5fcdcb3c89d | 22 | protected: |
mkelly10 | 9:d5fcdcb3c89d | 23 | float x1; |
mkelly10 | 9:d5fcdcb3c89d | 24 | float x2; |
mkelly10 | 9:d5fcdcb3c89d | 25 | float x2_dot; |
mkelly10 | 9:d5fcdcb3c89d | 26 | float x1_dot; |
mkelly10 | 9:d5fcdcb3c89d | 27 | float w_n; |
mkelly10 | 9:d5fcdcb3c89d | 28 | |
mkelly10 | 9:d5fcdcb3c89d | 29 | //float last_time; |
mkelly10 | 9:d5fcdcb3c89d | 30 | //float curr_time; |
mkelly10 | 9:d5fcdcb3c89d | 31 | float dt; |
mkelly10 | 9:d5fcdcb3c89d | 32 | |
mkelly10 | 9:d5fcdcb3c89d | 33 | float conv_distance; |
mkelly10 | 9:d5fcdcb3c89d | 34 | float position; |
mkelly10 | 9:d5fcdcb3c89d | 35 | float velocity; |
mkelly10 | 9:d5fcdcb3c89d | 36 | |
mkelly10 | 9:d5fcdcb3c89d | 37 | // bool readConfiguration(); |
mkelly10 | 9:d5fcdcb3c89d | 38 | // bool configFlag; |
mkelly10 | 9:d5fcdcb3c89d | 39 | // int count; |
mkelly10 | 9:d5fcdcb3c89d | 40 | }; |
mkelly10 | 9:d5fcdcb3c89d | 41 | |
mkelly10 | 9:d5fcdcb3c89d | 42 | #endif |