Miki Nakaone / Filter

2018/04/04

Dependents:   TOUTEKI_all_mbed mbed_test_program 2019_tourobo_upper

Fork of Filter by Yuki Ueno

Filter.h@7:e208acaef28d, 2018-04-04 (annotated)

Committer:
m204517
Date:
Wed Apr 04 07:29:13 2018 +0000
Revision:
7:e208acaef28d
Parent:
6:13ff4bea3c83 
2018/04/04

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uenono 0:17706252d1ed 1 #include "mbed.h"
uenono 0:17706252d1ed 2
uenono 0:17706252d1ed 3 class Filter
uenono 0:17706252d1ed 4 {
uenono 0:17706252d1ed 5 public:
uenono 0:17706252d1ed 6 double T_LPF;
uenono 0:17706252d1ed 7 double Om_n;
uenono 0:17706252d1ed 8 double sq_dt;
uenono 0:17706252d1ed 9 double sq_Om;
uenono 6:13ff4bea3c83 10
uenono 6:13ff4bea3c83 11 double omega;
uenono 6:13ff4bea3c83 12 double dzeta;
uenono 0:17706252d1ed 13
uenono 1:637f9a61b133 14 Filter(double);
uenono 4:fc9412c8334e 15 void setLowPassPara(double T, double init_data);
uenono 0:17706252d1ed 16 double LowPassFilter(double input);
uenono 6:13ff4bea3c83 17
uenono 6:13ff4bea3c83 18 void setSecondOrderPara(double xOmega, double xDzeta, double init_data);
m204517 7:e208acaef28d 19 void holdSecondOrderValue(double hold_data);
uenono 6:13ff4bea3c83 20 double SecondOrderLag(double input);
uenono 6:13ff4bea3c83 21
uenono 5:ab6351c18264 22 void setNotchPara(double Omega, double init_data);
uenono 0:17706252d1ed 23 double NotchFilter(double input);
uenono 1:637f9a61b133 24
uenono 1:637f9a61b133 25 private:
uenono 2:a842c1a33e4f 26 double int_time;
uenono 3:987d5d78f863 27 double preOutput;
uenono 3:987d5d78f863 28 bool set_t;
uenono 5:ab6351c18264 29
uenono 6:13ff4bea3c83 30 double prev_output1, prev_output2;
uenono 6:13ff4bea3c83 31 bool set_secorder;
uenono 6:13ff4bea3c83 32
uenono 5:ab6351c18264 33 double n_preOutput[2];
uenono 5:ab6351c18264 34 double n_preInput[2];
uenono 0:17706252d1ed 35
uenono 0:17706252d1ed 36 };