Pathfinding nach rechts funktioniert noch nicht...der rest schon
Dependencies: mbed
Fork of MicroMouse_MASTER_THREE by
LowpassFilter.h
- Committer:
- ruesipat
- Date:
- 2018-05-16
- Revision:
- 9:ab19796bf14a
- Parent:
- 1:d9e840c48b1e
File content as of revision 9:ab19796bf14a:
/* * LowpassFilter.h * Copyright (c) 2018, ZHAW * All rights reserved. */ #ifndef LOWPASS_FILTER_H_ #define LOWPASS_FILTER_H_ #include <cstdlib> /** * This class implements a time-discrete 2nd order lowpass filter for a series of data values. * This filter can typically be used within a periodic task that takes measurements that need * to be filtered, like speed or position values. */ class LowpassFilter { public: LowpassFilter(); virtual ~LowpassFilter(); void reset(); void reset(float value); void setPeriod(float period); void setFrequency(float frequency); float getFrequency(); float filter(float value); private: float period; float frequency; float a11, a12, a21, a22, b1, b2; float x1, x2; }; #endif /* LOWPASS_FILTER_H_ */