Diff: speedestimator.h

Revision:

1:24b7ab90081a

Parent:

0:f3cf9865b7be

--- a/speedestimator.h	Fri Jan 16 10:47:17 2015 +0000
+++ b/speedestimator.h	Sat Jan 17 21:42:46 2015 +0000
@@ -4,29 +4,29 @@
 #include "main.h"
 
 struct speedEstimator {
-    
+
     int last_position;
     float position_int;
     int dead_ticks;
-    
+
     static const int fast_gain = SPEED_ESTIMATOR_FAST_GAIN;
     static const int deadband = SPEED_ESTIMATOR_DEADBAND;
-    
+
     /**
      * constructor
-     * 
+     *
      * Sets the default properties of the struct
      */
-    speedEstimator(int position) { 
-    
+    speedEstimator(int position) {
+
         // Set initial positions
         last_position = position;
         position_int = 1.0f*position;
         dead_ticks = 1;
     };
-    
+
     float get(int position) {
-        
+
         /**
          * Slow estimation
          */
@@ -37,42 +37,42 @@
         static float dp_dead = 0;
 
         dp = position - last_position;
-        
-        if(dp==0){
+
+        if(dp==0) {
             if(dead_ticks < 10000)
-                dead_ticks++; 
+                dead_ticks++;
             dp = dp_dead/dead_ticks;
         } else {
             if(dp > POSITION_ANTIALIAS)
                 dp-=POSITION_RESOLUTION;
             else if(dp < -POSITION_ANTIALIAS)
                 dp+=POSITION_RESOLUTION;
-            
+
             dp = dp/dead_ticks;
             dp_dead = dp;
             dead_ticks = 1;
         }
-            
+
         xz0 = SAMPLE_TIME_INVERSE_S*dp;
         yz1 = SPEED_ESTIMATOR_FILTER * xz1 + (1-SPEED_ESTIMATOR_FILTER) * yz1;
         xz1 = xz0;
-        
+
         last_position = position;
-        
+
         /**
          * Fast estimation
          */
         static float fast_sum;
         static float pre_int_sum;
-        
+
         fast_sum = position - (position_int + SAMPLE_TIME_US*0.5f*(float)1e-6*yz1);
         pre_int_sum = yz1+speedEstimator::fast_gain*(fast_sum > speedEstimator::deadband ? fast_sum - speedEstimator::deadband : (fast_sum < -speedEstimator::deadband ? fast_sum + speedEstimator::deadband : 0));
         position_int+=SAMPLE_TIME_US*1e-6*pre_int_sum;
-    
-        return pre_int_sum;    
-        
+
+        return pre_int_sum;
+
     };
-    
+
 };
 
 #endif
\ No newline at end of file