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Dependencies: Library_Cntrl Library_Misc_cuboid
Fork of cuboid_balance_ros by
Diff: angle_estimator.h
- Revision:
- 0:acf871f26563
diff -r 000000000000 -r acf871f26563 angle_estimator.h --- /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; +};