Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: BREMS/BREMSConfig.cpp

Revision:
154:0a22dcf91577
Parent:
151:5bbb15351798
Child:
165:2463dbe52eee
--- a/BREMS/BREMSConfig.cpp	Thu May 04 15:16:56 2017 +0000
+++ b/BREMS/BREMSConfig.cpp	Thu May 04 16:52:04 2017 +0000
@@ -2,6 +2,7 @@
 
 #include "BREMSConfig.h"
 #include "BREMSStructs.h"
+#include "Filter.h"
 
 #include "config_pins.h"
 #include "config_inverter.h"
@@ -113,6 +114,9 @@
     io->throttle_in = new PwmIn(TH_PIN, TH_LIMIT_LOW, TH_LIMIT_HIGH);
     io->pos = new PositionSensorEncoder(CPR, 0);
     
+    control->throttle_filter = new MedianFilter(THROTTLE_FILTER_WINDOW);
+    control->velocity_filter = new MedianFilter(W_FILTER_WINDOW);
+    
     read->vbus = BUS_VOLTAGE;
     read->w = 0.0f;
     read->ia_supp_offset = 0.0f;