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Dependencies: Library_Cntrl Library_Misc_cuboid
Fork of cuboid_balance_ros by
angle_estimator.h
- Committer:
- altb2
- Date:
- 2019-03-08
- Revision:
- 0:acf871f26563
File content as of revision 0:acf871f26563:
#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; };