Diff: RateLimiter.h

Revision:

0:d735360f91f9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RateLimiter.h	Wed Jan 14 08:49:46 2015 +0000
@@ -0,0 +1,29 @@
+#ifndef RATE_LIMITER_H
+#define RATE_LIMITER_H
+
+#include "mbed.h"
+
+/** A rate limiter class.
+ * 
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class RateLimiter {
+    public:
+        /** Default constructor */
+        RateLimiter ();
+        /** Constructor receives rising (R) and falling (F) rate limits,
+         * initial condition of the output and sample time in seconds. */
+        RateLimiter (float R, float F, float initialCondition, float sampleTime);
+        /** Setting the rate limits R and F. */
+        void setLimits (float R, float F);
+        void setLimits (float R, float F, float initialCondition, float sampleTime);
+        /** Calculating the output of the rate limiter for the given input. */
+        float out (float input);
+        /** Reset the output of the rate limiter to zero. */
+        void reset();
+    private:
+        float R, F, y0, y, T_d, rate;
+};
+
+#endif // RATE_LIMITER_H
\ No newline at end of file