Nicolas Borla / Mbed OS PES2_mbed_os

PES2_mbed_os_6

Dependencies:   Servo

LowpassFilter.h@3:a292bdaf03f6, 2021-03-16 (annotated)

Committer:
boro
Date:
Tue Mar 16 17:28:04 2021 +0100
Revision:
3:a292bdaf03f6
Parent:
0:5d4d21d56334 
controller updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:5d4d21d56334 1 /*
boro 0:5d4d21d56334 2 * LowpassFilter.h
boro 0:5d4d21d56334 3 * Copyright (c) 2018, ZHAW
boro 0:5d4d21d56334 4 * All rights reserved.
boro 0:5d4d21d56334 5 */
boro 0:5d4d21d56334 6
boro 0:5d4d21d56334 7 #ifndef LOWPASS_FILTER_H_
boro 0:5d4d21d56334 8 #define LOWPASS_FILTER_H_
boro 0:5d4d21d56334 9
boro 0:5d4d21d56334 10 #include <cstdlib>
boro 0:5d4d21d56334 11
boro 0:5d4d21d56334 12 /**
boro 0:5d4d21d56334 13 * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
boro 0:5d4d21d56334 14 * This filter can typically be used within a periodic task that takes measurements that need
boro 0:5d4d21d56334 15 * to be filtered, like speed or position values.
boro 0:5d4d21d56334 16 */
boro 0:5d4d21d56334 17 class LowpassFilter {
boro 0:5d4d21d56334 18
boro 0:5d4d21d56334 19 public:
boro 0:5d4d21d56334 20
boro 0:5d4d21d56334 21 LowpassFilter();
boro 0:5d4d21d56334 22 virtual ~LowpassFilter();
boro 0:5d4d21d56334 23 void reset();
boro 0:5d4d21d56334 24 void reset(float value);
boro 0:5d4d21d56334 25 void setPeriod(float period);
boro 0:5d4d21d56334 26 void setFrequency(float frequency);
boro 0:5d4d21d56334 27 float getFrequency();
boro 0:5d4d21d56334 28 float filter(float value);
boro 0:5d4d21d56334 29
boro 0:5d4d21d56334 30 private:
boro 0:5d4d21d56334 31
boro 0:5d4d21d56334 32 float period;
boro 0:5d4d21d56334 33 float frequency;
boro 0:5d4d21d56334 34 float a11, a12, a21, a22, b1, b2;
boro 0:5d4d21d56334 35 float x1, x2;
boro 0:5d4d21d56334 36 };
boro 0:5d4d21d56334 37
boro 0:5d4d21d56334 38 #endif /* LOWPASS_FILTER_H_ */
boro 0:5d4d21d56334 39
boro 0:5d4d21d56334 40