Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Filter/Filter.h@155:7c6005933d4c, 2017-05-04 (annotated)

Committer:
bwang
Date:
Thu May 04 17:35:10 2017 +0000
Revision:
155:7c6005933d4c
Parent:
150:08c13bfc7417
Child:
224:90172915d0fb
05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 150:08c13bfc7417 1 #ifndef __FILTER_H
bwang 150:08c13bfc7417 2 #define __FILTER_H
bwang 150:08c13bfc7417 3
bwang 144:a9e7fa1c98d7 4 #include "mbed.h"
bwang 144:a9e7fa1c98d7 5 #include "math.h"
bwang 144:a9e7fa1c98d7 6
bwang 144:a9e7fa1c98d7 7 class CircularBuffer {
bwang 144:a9e7fa1c98d7 8 public:
bwang 147:c1b2379b8874 9 CircularBuffer(int length, bool use_median);
bwang 144:a9e7fa1c98d7 10 float oldest() {if (oldest_index >= 0) return buf[oldest_index]; return 0.0f;}
bwang 144:a9e7fa1c98d7 11 float newest() {if (newest_index >= 0) return buf[newest_index]; return 0.0f;}
bwang 144:a9e7fa1c98d7 12 int length() {return _length;}
bwang 144:a9e7fa1c98d7 13 void add(float x); /*recomputes mean, median - O(length) time*/
bwang 144:a9e7fa1c98d7 14 float &at(int index);
bwang 144:a9e7fa1c98d7 15 public:
bwang 144:a9e7fa1c98d7 16 float &operator[](int index) {return at(index);}
bwang 144:a9e7fa1c98d7 17 public:
bwang 144:a9e7fa1c98d7 18 /*O(1) time*/
bwang 144:a9e7fa1c98d7 19 float mean();
bwang 144:a9e7fa1c98d7 20 float median();
bwang 144:a9e7fa1c98d7 21 private:
bwang 144:a9e7fa1c98d7 22 int _length;
bwang 147:c1b2379b8874 23 bool _use_median;
bwang 144:a9e7fa1c98d7 24 int oldest_index, newest_index, num;
bwang 144:a9e7fa1c98d7 25 float sum;
bwang 144:a9e7fa1c98d7 26 private:
bwang 144:a9e7fa1c98d7 27 float *buf;
bwang 144:a9e7fa1c98d7 28 float *sorted;
bwang 146:296bcc30e65d 29 };
bwang 146:296bcc30e65d 30
bwang 146:296bcc30e65d 31 class Filter {
bwang 146:296bcc30e65d 32 public:
bwang 146:296bcc30e65d 33 virtual float update(float x) = 0;
bwang 146:296bcc30e65d 34 };
bwang 146:296bcc30e65d 35
bwang 146:296bcc30e65d 36 class MedianFilter : public Filter {
bwang 146:296bcc30e65d 37 public:
bwang 146:296bcc30e65d 38 MedianFilter(int length);
bwang 146:296bcc30e65d 39 virtual float update(float x);
bwang 146:296bcc30e65d 40 private:
bwang 146:296bcc30e65d 41 CircularBuffer *buf;
bwang 146:296bcc30e65d 42 };
bwang 146:296bcc30e65d 43
bwang 146:296bcc30e65d 44 class MovingAverageFilter : public Filter {
bwang 146:296bcc30e65d 45 public:
bwang 146:296bcc30e65d 46 MovingAverageFilter(int length);
bwang 146:296bcc30e65d 47 virtual float update(float x);
bwang 146:296bcc30e65d 48 private:
bwang 146:296bcc30e65d 49 CircularBuffer *buf;
bwang 146:296bcc30e65d 50 };
bwang 150:08c13bfc7417 51
bwang 150:08c13bfc7417 52 #endif