velo_filter / Mbed 2 deprecated my1stOLPFilter

This is the program for 1st order LPF for velocity

Dependencies:   QEI mbed

main.cpp@0:5da774f9c59c, 2018-07-20 (annotated)

Committer:
MTSAung
Date:
Fri Jul 20 11:16:46 2018 +0000
Revision:
0:5da774f9c59c
Child:
1:4088422c9f8a
kkk

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MTSAung 0:5da774f9c59c 1 #include "QEI.h"
MTSAung 0:5da774f9c59c 2 #include "mbed.h"
MTSAung 0:5da774f9c59c 3 Serial pc(USBTX, USBRX);
MTSAung 0:5da774f9c59c 4
MTSAung 0:5da774f9c59c 5 long counts_per_rev = (1440);
MTSAung 0:5da774f9c59c 6 double prv_ang = 0.0;
MTSAung 0:5da774f9c59c 7 double now_ang = 0.0;
MTSAung 0:5da774f9c59c 8 double now_omg = 0.0;
MTSAung 0:5da774f9c59c 9 double prv_time = 0.0;
MTSAung 0:5da774f9c59c 10 double now_time = 0.0;
MTSAung 0:5da774f9c59c 11 double samp_time = 0.0;
MTSAung 0:5da774f9c59c 12 double now_x = 0.0;
MTSAung 0:5da774f9c59c 13 double now_y = 0.0;
MTSAung 0:5da774f9c59c 14
MTSAung 0:5da774f9c59c 15 QEI wheel (p29, p30, NC, counts_per_rev, QEI::X4_ENCODING);
MTSAung 0:5da774f9c59c 16
MTSAung 0:5da774f9c59c 17 float pulsesToDegrees(float pulses)
MTSAung 0:5da774f9c59c 18 {
MTSAung 0:5da774f9c59c 19 return ((pulses/counts_per_rev)*360);
MTSAung 0:5da774f9c59c 20 }
MTSAung 0:5da774f9c59c 21
MTSAung 0:5da774f9c59c 22 int main()
MTSAung 0:5da774f9c59c 23 {
MTSAung 0:5da774f9c59c 24 Timer myTime;
MTSAung 0:5da774f9c59c 25 myTime.reset();
MTSAung 0:5da774f9c59c 26 myTime.start();
MTSAung 0:5da774f9c59c 27 while(1) {
MTSAung 0:5da774f9c59c 28 now_time = myTime.read_ms()/1000.0;
MTSAung 0:5da774f9c59c 29 samp_time = now_time - prv_time;
MTSAung 0:5da774f9c59c 30 now_ang = pulsesToDegrees(wheel.getPulses());
MTSAung 0:5da774f9c59c 31 now_omg = (now_ang - prv_ang)/samp_time;
MTSAung 0:5da774f9c59c 32
MTSAung 0:5da774f9c59c 33 pc.printf(" %F %F \r", now_time, now_ang);
MTSAung 0:5da774f9c59c 34 printf("\n\r");
MTSAung 0:5da774f9c59c 35 prv_ang = now_ang;
MTSAung 0:5da774f9c59c 36 prv_time = now_time;
MTSAung 0:5da774f9c59c 37 }
MTSAung 0:5da774f9c59c 38 }