Diff: Filter.cpp

Revision:

2:a842c1a33e4f

Parent:

1:637f9a61b133

Child:

3:987d5d78f863

--- a/Filter.cpp	Thu Jan 11 06:53:03 2018 +0000
+++ b/Filter.cpp	Thu Jan 11 07:00:44 2018 +0000
@@ -14,7 +14,7 @@
 {
     static double preOutput = 0.0;
 
-    double Output = (INT_TIME * input + T_LPF * preOutput)/(T_LPF + INT_TIME);
+    double Output = (int_time * input + T_LPF * preOutput)/(T_LPF + int_time);
 
     preOutput = Output;
 
@@ -26,7 +26,7 @@
     // 落としたい角周波数[rad/s]をOm_nに入れる
     Om_n = Omega;
     sq_Om = pow(Om_n, 2.0); // Om_nの2乗
-    sq_dt = pow(INT_TIME, 2.0); // dtの2乗
+    sq_dt = pow(int_time, 2.0); // dtの2乗
 
 }
 
@@ -35,7 +35,7 @@
     static double preOutput[2] = {0.0, 0.0};
     static double preInput[2] = {0.0, 0.0};
     
-    double Output = (2*(1 + Om_n * INT_TIME) * preOutput[0]-preOutput[1] + (1 + sq_Om * sq_dt) * input -2 * preInput[0] + preInput[1]) / (1 + 2 * Om_n * INT_TIME + sq_Om * sq_dt);
+    double Output = (2*(1 + Om_n * int_time) * preOutput[0]-preOutput[1] + (1 + sq_Om * sq_dt) * input -2 * preInput[0] + preInput[1]) / (1 + 2 * Om_n * int_time + sq_Om * sq_dt);
     
     preInput[1] = preInput[0];
     preInput[0] = input;