PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FOUR

Pathfinding nach rechts funktioniert noch nicht...der rest schon

Dependencies:   mbed

Fork of MicroMouse_MASTER_THREE by PES2_R2D2.0

LowpassFilter.h@0:a9fe4ef404bf, 2018-03-07 (annotated)

Committer:
ruesipat
Date:
Wed Mar 07 14:06:19 2018 +0000
Revision:
0:a9fe4ef404bf
Child:
1:d9e840c48b1e
hallo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruesipat 0:a9fe4ef404bf 1 /*
ruesipat 0:a9fe4ef404bf 2 * LowpassFilter.h
ruesipat 0:a9fe4ef404bf 3 * Copyright (c) 2018, ZHAW
ruesipat 0:a9fe4ef404bf 4 * All rights reserved.
ruesipat 0:a9fe4ef404bf 5 */
ruesipat 0:a9fe4ef404bf 6
ruesipat 0:a9fe4ef404bf 7 #ifndef LOWPASS_FILTER_H_
ruesipat 0:a9fe4ef404bf 8 #define LOWPASS_FILTER_H_
ruesipat 0:a9fe4ef404bf 9
ruesipat 0:a9fe4ef404bf 10 #include <cstdlib>
ruesipat 0:a9fe4ef404bf 11
ruesipat 0:a9fe4ef404bf 12 /**
ruesipat 0:a9fe4ef404bf 13 * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
ruesipat 0:a9fe4ef404bf 14 * This filter can typically be used within a periodic task that takes measurements that need
ruesipat 0:a9fe4ef404bf 15 * to be filtered, like speed or position values.
ruesipat 0:a9fe4ef404bf 16 */
ruesipat 0:a9fe4ef404bf 17 class LowpassFilter {
ruesipat 0:a9fe4ef404bf 18
ruesipat 0:a9fe4ef404bf 19 public:
ruesipat 0:a9fe4ef404bf 20
ruesipat 0:a9fe4ef404bf 21 LowpassFilter();
ruesipat 0:a9fe4ef404bf 22 virtual ~LowpassFilter();
ruesipat 0:a9fe4ef404bf 23 void reset();
ruesipat 0:a9fe4ef404bf 24 void reset(float value);
ruesipat 0:a9fe4ef404bf 25 void setPeriod(float period);
ruesipat 0:a9fe4ef404bf 26 void setFrequency(float frequency);
ruesipat 0:a9fe4ef404bf 27 float getFrequency();
ruesipat 0:a9fe4ef404bf 28 float filter(float value);
ruesipat 0:a9fe4ef404bf 29
ruesipat 0:a9fe4ef404bf 30 private:
ruesipat 0:a9fe4ef404bf 31
ruesipat 0:a9fe4ef404bf 32 float period;
ruesipat 0:a9fe4ef404bf 33 float frequency;
ruesipat 0:a9fe4ef404bf 34 float a11, a12, a21, a22, b1, b2;
ruesipat 0:a9fe4ef404bf 35 float x1, x2;
ruesipat 0:a9fe4ef404bf 36 };
ruesipat 0:a9fe4ef404bf 37
ruesipat 0:a9fe4ef404bf 38 #endif /* LOWPASS_FILTER_H_ */