Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Headers/BufferAverage.h@8:ce5b1bf38077, 2014-04-03 (annotated)

Committer:
goy5022
Date:
Thu Apr 03 23:58:04 2014 +0000
Revision:
8:ce5b1bf38077
Parent:
2:997f57aee3b7 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
goy5022 2:997f57aee3b7 1 #ifndef BUFFER_AVERAGE_H
goy5022 2:997f57aee3b7 2 #define BUFFER_AVERAGE_H
goy5022 2:997f57aee3b7 3
goy5022 2:997f57aee3b7 4 #include "Communication.h"
goy5022 2:997f57aee3b7 5
goy5022 2:997f57aee3b7 6 // A buffer size of 128 updated every 4ms or so gives us and average for the last half second.
goy5022 2:997f57aee3b7 7 #define BUFFER_SIZE 128
goy5022 2:997f57aee3b7 8 class BufferAverage
goy5022 2:997f57aee3b7 9 {
goy5022 2:997f57aee3b7 10 public:
goy5022 2:997f57aee3b7 11 explicit BufferAverage()
goy5022 2:997f57aee3b7 12 {
goy5022 2:997f57aee3b7 13 reset();
goy5022 2:997f57aee3b7 14 }
goy5022 2:997f57aee3b7 15
goy5022 2:997f57aee3b7 16 void reset()
goy5022 2:997f57aee3b7 17 {
goy5022 2:997f57aee3b7 18 ptr = 0;
goy5022 2:997f57aee3b7 19 total = 0;
goy5022 2:997f57aee3b7 20 for(int i = 0; i < BUFFER_SIZE; i++)
goy5022 2:997f57aee3b7 21 buff[i] = 0.0f;
goy5022 2:997f57aee3b7 22 }
goy5022 2:997f57aee3b7 23
goy5022 2:997f57aee3b7 24 void add(float reading)
goy5022 2:997f57aee3b7 25 {
goy5022 2:997f57aee3b7 26 WIRELESS.printf("%i \n\r", (int)(ptr % BUFFER_SIZE));
goy5022 2:997f57aee3b7 27 total -= buff[ptr % BUFFER_SIZE];
goy5022 2:997f57aee3b7 28 total += reading;
goy5022 2:997f57aee3b7 29 buff[ptr++] = reading;
goy5022 2:997f57aee3b7 30 }
goy5022 2:997f57aee3b7 31
goy5022 2:997f57aee3b7 32 float average()
goy5022 2:997f57aee3b7 33 {
goy5022 2:997f57aee3b7 34 return total / (BUFFER_SIZE > ptr ? BUFFER_SIZE : ptr); //min(BUFFER_SIZE, ptr);
goy5022 2:997f57aee3b7 35 }
goy5022 2:997f57aee3b7 36
goy5022 2:997f57aee3b7 37 private:
goy5022 2:997f57aee3b7 38 unsigned long ptr;
goy5022 2:997f57aee3b7 39 float total;
goy5022 2:997f57aee3b7 40 float buff [BUFFER_SIZE];
goy5022 2:997f57aee3b7 41 };
goy5022 2:997f57aee3b7 42
goy5022 2:997f57aee3b7 43 BufferAverage leftBufferAvg;
goy5022 2:997f57aee3b7 44 BufferAverage rightBufferAvg;
goy5022 2:997f57aee3b7 45 BufferAverage frontBufferAvg;
goy5022 2:997f57aee3b7 46 #endif