Test of pmic GPA with filter
Dependencies: mbed
Fork of nucf446-cuboid-balance1_strong by
GPA.h@8:d68e177e2571, 2018-03-22 (annotated)
- Committer:
- pmic
- Date:
- Thu Mar 22 17:32:37 2018 +0000
- Revision:
- 8:d68e177e2571
- Parent:
- 6:da0c9587ecae
- Child:
- 22:715d351d0be7
one day investigation in bugfixing of the hole software etc. for "austellung 23.03.2018", velocity still not zero while standing, still initial controller from stdl->altb->pmic, an other controller should be developed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pmic | 6:da0c9587ecae | 1 | class GPA |
pmic | 6:da0c9587ecae | 2 | { |
pmic | 6:da0c9587ecae | 3 | public: |
pmic | 6:da0c9587ecae | 4 | |
pmic | 6:da0c9587ecae | 5 | GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1); |
pmic | 6:da0c9587ecae | 6 | |
pmic | 6:da0c9587ecae | 7 | float operator()(float inp, float out) { |
pmic | 6:da0c9587ecae | 8 | return update(inp, out); |
pmic | 6:da0c9587ecae | 9 | } |
pmic | 6:da0c9587ecae | 10 | |
pmic | 6:da0c9587ecae | 11 | virtual ~GPA(); |
pmic | 8:d68e177e2571 | 12 | |
pmic | 6:da0c9587ecae | 13 | void reset(); |
pmic | 6:da0c9587ecae | 14 | float update(float inp, float out); |
pmic | 8:d68e177e2571 | 15 | |
pmic | 6:da0c9587ecae | 16 | void printGPAfexcDes(); |
pmic | 6:da0c9587ecae | 17 | void printGPAmeasPara(); |
pmic | 6:da0c9587ecae | 18 | void printGPAmeasTime(); |
pmic | 6:da0c9587ecae | 19 | |
pmic | 6:da0c9587ecae | 20 | private: |
pmic | 6:da0c9587ecae | 21 | |
pmic | 6:da0c9587ecae | 22 | int NfexcDes; |
pmic | 6:da0c9587ecae | 23 | int NperMin; |
pmic | 6:da0c9587ecae | 24 | int NmeasMin; |
pmic | 6:da0c9587ecae | 25 | float Ts; |
pmic | 6:da0c9587ecae | 26 | float *fexcDes; |
pmic | 6:da0c9587ecae | 27 | float aAexcDes; |
pmic | 6:da0c9587ecae | 28 | float bAexcDes; |
pmic | 8:d68e177e2571 | 29 | |
pmic | 6:da0c9587ecae | 30 | float fnyq; |
pmic | 6:da0c9587ecae | 31 | float pi2; |
pmic | 6:da0c9587ecae | 32 | float pi2Ts; |
pmic | 6:da0c9587ecae | 33 | float piDiv2; |
pmic | 8:d68e177e2571 | 34 | |
pmic | 6:da0c9587ecae | 35 | int Nmeas; |
pmic | 6:da0c9587ecae | 36 | int Nper; |
pmic | 6:da0c9587ecae | 37 | float fexc; |
pmic | 6:da0c9587ecae | 38 | float fexcPast; |
pmic | 6:da0c9587ecae | 39 | int ii; |
pmic | 6:da0c9587ecae | 40 | int jj; |
pmic | 6:da0c9587ecae | 41 | float scaleG; |
pmic | 6:da0c9587ecae | 42 | float cr; |
pmic | 6:da0c9587ecae | 43 | float ci; |
pmic | 6:da0c9587ecae | 44 | float *sU; |
pmic | 6:da0c9587ecae | 45 | float *sY; |
pmic | 6:da0c9587ecae | 46 | float sinarg; |
pmic | 6:da0c9587ecae | 47 | int NmeasTotal; |
pmic | 6:da0c9587ecae | 48 | float Aexc; |
pmic | 6:da0c9587ecae | 49 | float pi2Tsfexc; |
pmic | 8:d68e177e2571 | 50 | |
pmic | 6:da0c9587ecae | 51 | void fexcDesLogspace(float fMin, float fMax, int NfexcDes); |
pmic | 6:da0c9587ecae | 52 | void calcGPAmeasPara(float fexcDes_i); |
pmic | 6:da0c9587ecae | 53 | void printLine(); |
pmic | 6:da0c9587ecae | 54 | |
pmic | 6:da0c9587ecae | 55 | }; |