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lpf.cpp
00001 #include "mbed.h" 00002 #include "lpf.h" 00003 00004 lpf::lpf(float system_cycle_second_,float arrive_time_){ 00005 00006 /* 00007 引数1 制御周期(秒) 00008 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 00009 */ 00010 00011 system_cycle_second = system_cycle_second_; 00012 f_t_const = arrive_time_; 00013 one_before_output = 0.0; 00014 output=0.0; 00015 } 00016 00017 float lpf::path_value(float target_value){ 00018 00019 output = ((system_cycle_second * target_value) + (f_t_const * one_before_output))/(system_cycle_second + f_t_const); 00020 one_before_output = output; 00021 00022 return output; 00023 } 00024 00025 00026 void lpf::change_time_constant(float change_time_constant_){ 00027 00028 f_t_const = change_time_constant_; 00029 } 00030 00031 00032 void lpf::reset(void){ 00033 00034 output = 0.0; 00035 one_before_output = 0.0; 00036 00037 }
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