Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

Diff: meta/filters.h

Revision:
11:dccbaa9274c5
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/meta/filters.h	Sun Mar 08 08:37:38 2015 +0000
@@ -0,0 +1,27 @@
+#ifndef __FILTERS_H
+#define __FILTERS_H
+
+class LtiFilter {
+public:
+    virtual float Update(float x) {return x;}
+};
+
+class MeanFilter: public LtiFilter {
+public:
+    MeanFilter(float strength);
+    virtual float Update(float x);
+private:
+    float _mean;
+    float _strength;
+};
+
+class PidController {
+public:
+    PidController(float ki, float kp, float kd, float out_max = 1.0f, float out_min = 0.0f);
+    float Update(float ref, float in);
+private:
+    float _ki, _kp, _kd;
+    float _last_in, _integral;
+    float _out_max, _out_min;
+}; 
+#endif
\ No newline at end of file