Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Filter/Filter.h

Committer:
bwang
Date:
2017-05-03
Revision:
144:a9e7fa1c98d7
Child:
146:296bcc30e65d

File content as of revision 144:a9e7fa1c98d7:

#include "mbed.h"
#include "math.h"

class CircularBuffer {
public:
    CircularBuffer(int length);
    float oldest() {if (oldest_index >= 0) return buf[oldest_index]; return 0.0f;}
    float newest() {if (newest_index >= 0) return buf[newest_index]; return 0.0f;}
    int length() {return _length;}
    void add(float x); /*recomputes mean, median - O(length) time*/
    float &at(int index);
public:
    float &operator[](int index) {return at(index);}
public:
    /*O(1) time*/
    float mean();
    float median();
private:
    int _length;
    int oldest_index, newest_index, num;
    float sum;
private:
    float *buf;
    float *sorted;
};