Clara Keng / Mbed 2 deprecated FreeFlyerROS_clarakhl

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Dependencies:   mbed ros_lib_kinetic

utilities.h@0:dd126a1080d3, 2017-02-14 (annotated)

Committer:
Knillinux
Date:
Tue Feb 14 05:12:54 2017 +0000
Revision:
0:dd126a1080d3
Child:
1:40bdbe1a93b7
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Knillinux 0:dd126a1080d3 1
Knillinux 0:dd126a1080d3 2 #ifndef UTILITIES_H_INCLUDED
Knillinux 0:dd126a1080d3 3 #define UTILITIES_H_INCLUDED
Knillinux 0:dd126a1080d3 4
Knillinux 0:dd126a1080d3 5 #include "mbed.h"
Knillinux 0:dd126a1080d3 6
Knillinux 0:dd126a1080d3 7 namespace utils {
Knillinux 0:dd126a1080d3 8 // From http://playground.arduino.cc/Main/Smooth
Knillinux 0:dd126a1080d3 9 /*Details: Smooth takes three parameters, the value to smoothed, the filter value (filterVal), and smoothedVal.
Knillinux 0:dd126a1080d3 10
Knillinux 0:dd126a1080d3 11 float sensVal - the sensor variable - raw material to be smoothed
Knillinux 0:dd126a1080d3 12
Knillinux 0:dd126a1080d3 13 float filterVal - The filter value is a float and must be between 0 and .9999 say. 0 is off (no smoothing) and .9999 is maximum smoothing.
Knillinux 0:dd126a1080d3 14 The actual performance of the filter is going to be dependent on fast you are sampling your sensor (the total loop time), so
Knillinux 0:dd126a1080d3 15 some trial and error will probably be necessary to get the desired response.
Knillinux 0:dd126a1080d3 16
Knillinux 0:dd126a1080d3 17 smoothedVal - Use this for the output of the sensor and also feed it back into the loop. Each sensor needs its own value.
Knillinux 0:dd126a1080d3 18 Don't use this variable for any other purpose.*/
Knillinux 0:dd126a1080d3 19 float smooth(float data, float filterVal, float smoothedVal);
Knillinux 0:dd126a1080d3 20 } // end utils namespace
Knillinux 0:dd126a1080d3 21
Knillinux 0:dd126a1080d3 22
Knillinux 0:dd126a1080d3 23 #endif // End include guard