Diff: Limiter/Limiter.cpp
- Revision:
- 4:4060309b9cc0
- Child:
- 6:a50e6d3924f1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Limiter/Limiter.cpp Tue Oct 14 08:15:03 2014 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+#include "Limiter.h"
+
+Limiter::Limiter(float LIMIT)
+{
+ limit = LIMIT;
+ last= 0;
+ skip = false;
+}
+
+float Limiter::calc(float now)
+{
+ if ( !skip ) {
+ skip = true;
+ return last = now;
+ }
+ float differential = ( now - last );
+ if ( differential < limit && differential > -limit ) last = now;
+ if ( differential > limit ) last += limit * 0.05f;
+ else {
+ if ( differential < -limit ) last -= limit * 0.05f;
+ else last = now;
+ }
+ return last;
+}
+;