ろーぱすふぃるた
lpf.h@0:f252bd51e899, 2020-01-27 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Mon Jan 27 08:54:14 2020 +0000
- Revision:
- 0:f252bd51e899
low path filter;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
THtakahiro702286 | 0:f252bd51e899 | 1 | #ifndef _LPF_H_ |
THtakahiro702286 | 0:f252bd51e899 | 2 | #define _LPF_H_ |
THtakahiro702286 | 0:f252bd51e899 | 3 | |
THtakahiro702286 | 0:f252bd51e899 | 4 | class lpf{ |
THtakahiro702286 | 0:f252bd51e899 | 5 | public: |
THtakahiro702286 | 0:f252bd51e899 | 6 | lpf(float,float); //コンストラクタ 引数1:制御周期(s) 引数2:何秒で目標値に到達してほしいか(s) |
THtakahiro702286 | 0:f252bd51e899 | 7 | float path_value(float); //ローパスフィルタ通過後の値を返す |
THtakahiro702286 | 0:f252bd51e899 | 8 | void change_time_constant(float); //時定数を変更するための関数 |
THtakahiro702286 | 0:f252bd51e899 | 9 | void reset(void); //一定の処理が終わった時に前回の偏差を0に戻す関数 |
THtakahiro702286 | 0:f252bd51e899 | 10 | |
THtakahiro702286 | 0:f252bd51e899 | 11 | float one_before_output; //前回の出力値を保管 |
THtakahiro702286 | 0:f252bd51e899 | 12 | |
THtakahiro702286 | 0:f252bd51e899 | 13 | private: |
THtakahiro702286 | 0:f252bd51e899 | 14 | float system_cycle_second; //制御周期 |
THtakahiro702286 | 0:f252bd51e899 | 15 | float f_t_const; //フィルタリング時定数(filtering_time_constant) |
THtakahiro702286 | 0:f252bd51e899 | 16 | float output; |
THtakahiro702286 | 0:f252bd51e899 | 17 | |
THtakahiro702286 | 0:f252bd51e899 | 18 | |
THtakahiro702286 | 0:f252bd51e899 | 19 | }; |
THtakahiro702286 | 0:f252bd51e899 | 20 | #endif |