projectR講習2018 / Filter

1次遅れと2次遅れ，ノッチフィルターを実装

Fork of Filter by Yuki Ueno

Filter.h@6:13ff4bea3c83, 2018-03-22 (annotated)

Committer:
uenono
Date:
Thu Mar 22 12:36:55 2018 +0000
Revision:
6:13ff4bea3c83
Parent:
5:ab6351c18264 
second-order-lag???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uenono 0:17706252d1ed 1 #include "mbed.h"
uenono 0:17706252d1ed 2
uenono 0:17706252d1ed 3 class Filter
uenono 0:17706252d1ed 4 {
uenono 0:17706252d1ed 5 public:
uenono 0:17706252d1ed 6 double T_LPF;
uenono 0:17706252d1ed 7 double Om_n;
uenono 0:17706252d1ed 8 double sq_dt;
uenono 0:17706252d1ed 9 double sq_Om;
uenono 6:13ff4bea3c83 10
uenono 6:13ff4bea3c83 11 double omega;
uenono 6:13ff4bea3c83 12 double dzeta;
uenono 0:17706252d1ed 13
uenono 1:637f9a61b133 14 Filter(double);
uenono 4:fc9412c8334e 15 void setLowPassPara(double T, double init_data);
uenono 0:17706252d1ed 16 double LowPassFilter(double input);
uenono 6:13ff4bea3c83 17
uenono 6:13ff4bea3c83 18 void setSecondOrderPara(double xOmega, double xDzeta, double init_data);
uenono 6:13ff4bea3c83 19 double SecondOrderLag(double input);
uenono 6:13ff4bea3c83 20
uenono 5:ab6351c18264 21 void setNotchPara(double Omega, double init_data);
uenono 0:17706252d1ed 22 double NotchFilter(double input);
uenono 1:637f9a61b133 23
uenono 1:637f9a61b133 24 private:
uenono 2:a842c1a33e4f 25 double int_time;
uenono 3:987d5d78f863 26 double preOutput;
uenono 3:987d5d78f863 27 bool set_t;
uenono 5:ab6351c18264 28
uenono 6:13ff4bea3c83 29 double prev_output1, prev_output2;
uenono 6:13ff4bea3c83 30 bool set_secorder;
uenono 6:13ff4bea3c83 31
uenono 5:ab6351c18264 32 double n_preOutput[2];
uenono 5:ab6351c18264 33 double n_preInput[2];
uenono 0:17706252d1ed 34
uenono 0:17706252d1ed 35 };