Diff: lpf.cpp

Revision:

0:f252bd51e899

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lpf.cpp	Mon Jan 27 08:54:14 2020 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#include "lpf.h"
+
+lpf::lpf(float system_cycle_second_,float arrive_time_){
+
+    /*
+        引数1 制御周期(秒)
+        引数2 何秒で目標値へ到達させたいか(s)時定数ではない
+    */
+    
+    system_cycle_second = system_cycle_second_;
+    f_t_const = arrive_time_;
+    one_before_output = 0.0;
+    output=0.0;
+}
+
+float lpf::path_value(float target_value){
+     
+    output = ((system_cycle_second * target_value) + (f_t_const * one_before_output))/(system_cycle_second + f_t_const);
+    one_before_output = output;
+    
+    return output;
+}
+
+
+void lpf::change_time_constant(float change_time_constant_){
+    
+    f_t_const = change_time_constant_;
+}
+
+
+void lpf::reset(void){
+    
+    output = 0.0;
+    one_before_output = 0.0;
+    
+}
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