Clara Keng / Mbed 2 deprecated FreeFlyerROS_clarakhl

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Dependencies:   mbed ros_lib_kinetic

utilities.cpp@7:e165f5119950, 2019-10-14 (annotated)

Committer:
clarakeng
Date:
Mon Oct 14 23:53:05 2019 +0000
Revision:
7:e165f5119950
Parent:
5:864709d3eb76 
Test comment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Knillinux 0:dd126a1080d3 1
Knillinux 0:dd126a1080d3 2 #include "utilities.h"
Knillinux 0:dd126a1080d3 3 #include "mbed.h"
Knillinux 0:dd126a1080d3 4
Knillinux 0:dd126a1080d3 5 namespace utils {
Knillinux 0:dd126a1080d3 6
Knillinux 0:dd126a1080d3 7 float smooth(float data, float filterVal, float smoothedVal) {
Knillinux 0:dd126a1080d3 8
Knillinux 0:dd126a1080d3 9 if (filterVal > 1) { // check to make sure param's are within range
Knillinux 0:dd126a1080d3 10 filterVal = .99;
Knillinux 0:dd126a1080d3 11 } else if (filterVal <= 0) {
Knillinux 0:dd126a1080d3 12 filterVal = 0;
Knillinux 0:dd126a1080d3 13 }
Knillinux 0:dd126a1080d3 14
Knillinux 0:dd126a1080d3 15 smoothedVal = (data * (1 - filterVal)) + (smoothedVal * filterVal);
Knillinux 0:dd126a1080d3 16
Knillinux 0:dd126a1080d3 17 return (float)smoothedVal;
Knillinux 0:dd126a1080d3 18 }
Knillinux 1:40bdbe1a93b7 19
Knillinux 1:40bdbe1a93b7 20 float min(float a, float b) {
Knillinux 1:40bdbe1a93b7 21 if (a < b)
Knillinux 1:40bdbe1a93b7 22 return a;
Knillinux 1:40bdbe1a93b7 23 else
Knillinux 1:40bdbe1a93b7 24 return b;
Knillinux 1:40bdbe1a93b7 25 }
ambyld 5:864709d3eb76 26
ambyld 5:864709d3eb76 27 void printBits(char myByte, Serial &pc) {
ambyld 5:864709d3eb76 28 for (char mask = 0x80; mask; mask >>= 1) {
ambyld 5:864709d3eb76 29 if(mask & myByte)
ambyld 5:864709d3eb76 30 pc.putc('1');
ambyld 5:864709d3eb76 31 else
ambyld 5:864709d3eb76 32 pc.putc('0');
ambyld 5:864709d3eb76 33 }
ambyld 5:864709d3eb76 34 }
Knillinux 0:dd126a1080d3 35
Knillinux 0:dd126a1080d3 36 } // end utils namespace