Rate limiter class.
Dependents: BLDC_mainProgram L298N-Breakout-Test HBridgeDCMotor STMF302R8_MotorDrive ... more
RateLimiter.h
- Committer:
- tbjazic
- Date:
- 2015-01-14
- Revision:
- 0:d735360f91f9
File content as of revision 0:d735360f91f9:
#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