ksf

Dependents:   kinematics_controlv2 kinematics_controlv4 kinematics_control_copyfds Robot_control

Revision:
3:f8d57796d69b
Parent:
2:1a677b57ce81
Child:
4:a79f9f3a9e40
--- a/signalnumber.cpp	Wed Nov 01 13:42:01 2017 +0000
+++ b/signalnumber.cpp	Wed Nov 01 14:11:14 2017 +0000
@@ -73,12 +73,12 @@
 n is the amount of samples in the window
 action is the amount of same mean values 
 */
-int SignalNumber::getnumber(const int n, const int action, float input, float k){
-    mean = getmean(n, input)*k;
+int SignalNumber::getnumber(const int n, const int action, float input){
+    mean = getmean(n, input);
     //Check first case
     if( mean < LeftFastmin ) {
         if (count2 <action){
-            mean = getmean(n, input)*k;
+            mean = getmean(n, input);
             if(mean < LeftFastmin){
                 count2++;
             }
@@ -95,7 +95,7 @@
      //Check second case  
      else if(mean <= LeftFastmax and mean > LeftFastmin){
         if (count2 <action){
-            mean = getmean(n, input)*k;
+            mean = getmean(n, input);
             if(mean <=LeftFastmax and mean>LeftFastmin){
                 count2++;
             }
@@ -111,7 +111,7 @@
     }
      else if( mean <=LeftSlowmax and mean>LeftSlowmin) {
         if (count2 <action){
-            mean = getmean(n, input)*k;
+            mean = getmean(n, input);
             if(mean <=LeftSlowmax and mean>LeftSlowmin){
                 count2++;
             }
@@ -127,7 +127,7 @@
      }
      else if( mean <=RightSlowmax and mean>RightSlowmin) {
         if (count2 <action){
-            mean = getmean(n, input)*k;
+            mean = getmean(n, input);
             if(mean <=RightSlowmax and mean>RightSlowmin){
                 count2++;
             }
@@ -143,7 +143,7 @@
      }
      else if( mean <=RightFastmax and mean>RightFastmin ) {
         if (count2 <action){
-            mean = getmean(n, input)*k;
+            mean = getmean(n, input);
             if(mean <=RightFastmax and mean>RightFastmin){
                 count2++;
             }
@@ -166,13 +166,13 @@
 
 
 // In progress
-int SignalNumber::getmode(const int n, const int action, float input, float k){
+int SignalNumber::getmode(const int n, const int action, float input){
     int mode;
-    mean = getmean(n, input)*k;
+    mean = getmean(n, input);
     //Check first case
     if( mean < LeftFastmin ) {
         if (count2 <action){
-            mean = getmean(n, input)*k;
+            mean = getmean(n, input);
             if(mean < LeftFastmin){
                 count2++;
             }