Helvijs Kiselis / Mbed 2 deprecated Micromouse

Algorithmus

Dependencies:   mbed

LowpassFilter.h@36:99f60052c746, 2018-06-30 (annotated)

Committer:
luethale
Date:
Sat Jun 30 14:13:27 2018 +0000
Revision:
36:99f60052c746
Parent:
1:2b5f79285a3e 
Nacht_der_Technik; Angepasste Werte:; Move & HalfeMove; Ev. Bechleunigung verbessern (aprupte Stops); Ev. Move & HalfeMove weiter anpassen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helvis 1:2b5f79285a3e 1 /*
Helvis 1:2b5f79285a3e 2 * LowpassFilter.h
Helvis 1:2b5f79285a3e 3 * Copyright (c) 2018, ZHAW
Helvis 1:2b5f79285a3e 4 * All rights reserved.
Helvis 1:2b5f79285a3e 5 */
Helvis 1:2b5f79285a3e 6
Helvis 1:2b5f79285a3e 7 #ifndef LOWPASS_FILTER_H_
Helvis 1:2b5f79285a3e 8 #define LOWPASS_FILTER_H_
Helvis 1:2b5f79285a3e 9
Helvis 1:2b5f79285a3e 10 #include <cstdlib>
Helvis 1:2b5f79285a3e 11
Helvis 1:2b5f79285a3e 12 /**
Helvis 1:2b5f79285a3e 13 * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
Helvis 1:2b5f79285a3e 14 * This filter can typically be used within a periodic task that takes measurements that need
Helvis 1:2b5f79285a3e 15 * to be filtered, like speed or position values.
Helvis 1:2b5f79285a3e 16 */
Helvis 1:2b5f79285a3e 17 class LowpassFilter {
Helvis 1:2b5f79285a3e 18
Helvis 1:2b5f79285a3e 19 public:
Helvis 1:2b5f79285a3e 20
Helvis 1:2b5f79285a3e 21 LowpassFilter();
Helvis 1:2b5f79285a3e 22 virtual ~LowpassFilter();
Helvis 1:2b5f79285a3e 23 void reset();
Helvis 1:2b5f79285a3e 24 void reset(float value);
Helvis 1:2b5f79285a3e 25 void setPeriod(float period);
Helvis 1:2b5f79285a3e 26 void setFrequency(float frequency);
Helvis 1:2b5f79285a3e 27 float getFrequency();
Helvis 1:2b5f79285a3e 28 float filter(float value);
Helvis 1:2b5f79285a3e 29
Helvis 1:2b5f79285a3e 30 private:
Helvis 1:2b5f79285a3e 31
Helvis 1:2b5f79285a3e 32 float period;
Helvis 1:2b5f79285a3e 33 float frequency;
Helvis 1:2b5f79285a3e 34 float a11, a12, a21, a22, b1, b2;
Helvis 1:2b5f79285a3e 35 float x1, x2;
Helvis 1:2b5f79285a3e 36 };
Helvis 1:2b5f79285a3e 37
Helvis 1:2b5f79285a3e 38 #endif /* LOWPASS_FILTER_H_ */