altb_pmic / Mbed OS cuboid_balance_ros

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Dependencies:   Library_Cntrl Library_Misc_cuboid

Fork of cuboid_balance_ros by Ruprecht Altenburger

angle_estimator.h@2:9b068d2a7994, 2019-11-22 (annotated)

Committer:
altb2
Date:
Fri Nov 22 16:46:16 2019 +0000
Revision:
2:9b068d2a7994
Parent:
0:acf871f26563 
updated ros version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:acf871f26563 1 #include "mbed.h"
altb2 0:acf871f26563 2 #include "LinearCharacteristics.h"
altb2 0:acf871f26563 3 #include "IIR_filter.h"
altb2 0:acf871f26563 4 class angle_estimator
altb2 0:acf871f26563 5 {
altb2 0:acf871f26563 6 public:
altb2 0:acf871f26563 7
altb2 0:acf871f26563 8 angle_estimator(float);
altb2 0:acf871f26563 9 virtual ~angle_estimator();
altb2 0:acf871f26563 10 float get_phi1(void);
altb2 0:acf871f26563 11 float get_gyro(void);
altb2 0:acf871f26563 12 void calc_angle_phi1(int);
altb2 0:acf871f26563 13
altb2 0:acf871f26563 14 private:
altb2 0:acf871f26563 15 //------------------------------------------
altb2 0:acf871f26563 16 // ... here define variables like gains etc.
altb2 0:acf871f26563 17 //------------------------------------------
altb2 0:acf871f26563 18 LinearCharacteristics u2ax; // use normalized input
altb2 0:acf871f26563 19 LinearCharacteristics u2ay; // use normalized input
altb2 0:acf871f26563 20 LinearCharacteristics u2gz; // use normalized input
altb2 0:acf871f26563 21 // 4.6517f = 1/3.752e-3 [V / °/s] * pi/180
altb2 0:acf871f26563 22
altb2 0:acf871f26563 23 //-------------DEFINE FILTERS----------------
altb2 0:acf871f26563 24 IIR_filter f_ax; // filter ax signals
altb2 0:acf871f26563 25 IIR_filter f_ay; // filter ay signals
altb2 0:acf871f26563 26 IIR_filter f_gz; // filter gz signals
altb2 0:acf871f26563 27
altb2 0:acf871f26563 28 AnalogIn ax; // Analog IN (acc x) on PA_0
altb2 0:acf871f26563 29 AnalogIn ay; // Analog IN (acc y) on PA_1
altb2 0:acf871f26563 30 AnalogIn gz; // Analog IN (gyr z) on PA_4
altb2 0:acf871f26563 31
altb2 0:acf871f26563 32 float gyro;
altb2 0:acf871f26563 33 float phi1;
altb2 0:acf871f26563 34 };