BufferAverage.h

00001 #ifndef BUFFER_AVERAGE_H
00002 #define BUFFER_AVERAGE_H
00003 
00004 #include "Communication.h"
00005 
00006 // A buffer size of 128 updated every 4ms or so gives us and average for the last half second. 
00007 #define BUFFER_SIZE 128
00008 class BufferAverage
00009 {
00010     public: 
00011         explicit BufferAverage()
00012         {
00013             reset();
00014         }
00015         
00016         void reset()
00017         {
00018             ptr = 0;
00019             total = 0;
00020             for(int i = 0; i < BUFFER_SIZE; i++)
00021                 buff[i] = 0.0f;
00022         }
00023         
00024         void add(float reading)
00025         {
00026             WIRELESS.printf("%i \n\r", (int)(ptr % BUFFER_SIZE));
00027             total -= buff[ptr % BUFFER_SIZE];
00028             total += reading;
00029             buff[ptr++] = reading;
00030         }
00031         
00032         float average()
00033         {
00034             return total / (BUFFER_SIZE > ptr ? BUFFER_SIZE : ptr); //min(BUFFER_SIZE, ptr);   
00035         }
00036     
00037     private:
00038         unsigned long ptr;
00039         float total;
00040         float buff [BUFFER_SIZE];
00041 };
00042 
00043 BufferAverage leftBufferAvg;
00044 BufferAverage rightBufferAvg;
00045 BufferAverage frontBufferAvg;
00046 #endif