Clara Keng / Mbed 2 deprecated FreeFlyerROS_clarakhl

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Dependencies:   mbed ros_lib_kinetic

Diff: utilities.cpp

Revision:
0:dd126a1080d3
Child:
1:40bdbe1a93b7
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/utilities.cpp	Tue Feb 14 05:12:54 2017 +0000
@@ -0,0 +1,20 @@
+
+#include "utilities.h"
+#include "mbed.h"
+
+namespace utils {
+    
+    float smooth(float data, float filterVal, float smoothedVal) {
+    
+        if (filterVal > 1) {      // check to make sure param's are within range
+            filterVal = .99;
+        }  else if (filterVal <= 0) {
+            filterVal = 0;
+        }
+        
+        smoothedVal = (data * (1 - filterVal)) + (smoothedVal  *  filterVal);
+        
+        return (float)smoothedVal;
+    }
+
+} // end utils namespace
\ No newline at end of file