Bayley Wang
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priustroller_3
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filters.h
00001 #ifndef __FILTERS_H 00002 #define __FILTERS_H 00003 00004 class LtiFilter { 00005 public: 00006 virtual float Update(float x) {return x;} 00007 }; 00008 00009 class MeanFilter: public LtiFilter { 00010 public: 00011 MeanFilter(float strength); 00012 virtual float Update(float x); 00013 private: 00014 float _mean; 00015 float _strength; 00016 }; 00017 00018 class PidController { 00019 public: 00020 PidController(float ki, float kp, float kd, float out_max = 1.0f, float out_min = 0.0f); 00021 float Update(float ref, float in); 00022 private: 00023 float _ki, _kp, _kd; 00024 float _last_in, _integral; 00025 float _out_max, _out_min; 00026 }; 00027 #endif
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