zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Official

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Dependencies:   Servo ServoArm mbed

Headers/LowpassFilter.h@0:15a8480061e8, 2017-05-22 (annotated)

Committer:
beacon
Date:
Mon May 22 11:24:46 2017 +0000
Revision:
0:15a8480061e8
o

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 0:15a8480061e8 1 /*
beacon 0:15a8480061e8 2 * LowpassFilter.h
beacon 0:15a8480061e8 3 * Copyright (c) 2016, ZHAW
beacon 0:15a8480061e8 4 * All rights reserved.
beacon 0:15a8480061e8 5 */
beacon 0:15a8480061e8 6
beacon 0:15a8480061e8 7 #ifndef LOWPASS_FILTER_H_
beacon 0:15a8480061e8 8 #define LOWPASS_FILTER_H_
beacon 0:15a8480061e8 9
beacon 0:15a8480061e8 10 #include <cstdlib>
beacon 0:15a8480061e8 11 #include <cmath>
beacon 0:15a8480061e8 12
beacon 0:15a8480061e8 13 /**
beacon 0:15a8480061e8 14 * This class implements a time-discrete 2nd order low-pass filter for a series of data values.
beacon 0:15a8480061e8 15 * This filter can typically be used within a periodic task that takes measurements that need
beacon 0:15a8480061e8 16 * to be filtered, like speed or position values.
beacon 0:15a8480061e8 17 */
beacon 0:15a8480061e8 18 class LowpassFilter {
beacon 0:15a8480061e8 19
beacon 0:15a8480061e8 20 public:
beacon 0:15a8480061e8 21
beacon 0:15a8480061e8 22 LowpassFilter();
beacon 0:15a8480061e8 23 virtual ~LowpassFilter();
beacon 0:15a8480061e8 24 void reset();
beacon 0:15a8480061e8 25 void reset(float value);
beacon 0:15a8480061e8 26 void setPeriod(float period);
beacon 0:15a8480061e8 27 void setFrequency(float frequency);
beacon 0:15a8480061e8 28 float getFrequency();
beacon 0:15a8480061e8 29 float filter(float value);
beacon 0:15a8480061e8 30
beacon 0:15a8480061e8 31 private:
beacon 0:15a8480061e8 32
beacon 0:15a8480061e8 33 float period;
beacon 0:15a8480061e8 34 float frequency;
beacon 0:15a8480061e8 35 float a11, a12, a21, a22, b1, b2;
beacon 0:15a8480061e8 36 float x1, x2;
beacon 0:15a8480061e8 37 };
beacon 0:15a8480061e8 38
beacon 0:15a8480061e8 39 #endif /* LOWPASS_FILTER_H_ */