Diff: angle_estimator.h

Revision:

0:acf871f26563

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/angle_estimator.h	Fri Mar 08 13:34:59 2019 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+#include "LinearCharacteristics.h"
+#include "IIR_filter.h"
+class angle_estimator
+{
+public:
+
+    angle_estimator(float);
+    virtual ~angle_estimator();
+    float get_phi1(void);
+    float get_gyro(void);
+    void calc_angle_phi1(int);
+
+private:
+    //------------------------------------------
+// ... here define variables like gains etc.
+//------------------------------------------
+    LinearCharacteristics u2ax;     // use normalized input
+    LinearCharacteristics u2ay;      // use normalized input
+    LinearCharacteristics u2gz;           // use normalized input
+                // 4.6517f = 1/3.752e-3 [V / °/s] * pi/180
+ 
+//-------------DEFINE FILTERS----------------
+    IIR_filter f_ax;        // filter ax signals
+    IIR_filter f_ay;        // filter ay signals
+    IIR_filter f_gz;    // filter gz signals
+        
+    AnalogIn ax;                      // Analog IN (acc x) on PA_0
+    AnalogIn ay;                      // Analog IN (acc y) on PA_1
+    AnalogIn gz;                      // Analog IN (gyr z) on PA_4
+
+    float gyro;
+    float phi1;
+};