Michael Ernst Peter / PM2_Libary

Libary for PM2.

Dependencies:   LSM9DS1 RangeFinder FastPWM

Dependents:   PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more

LowpassFilter.h@32:bb074bb17d39, 2022-06-22 (annotated)

Committer:
pmic
Date:
Wed Jun 22 14:05:13 2022 +0000
Revision:
32:bb074bb17d39
Parent:
4:9c003c402033 
Updated SensorBar so it is not blocking the program if it is not connected

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:86129f1b4a93 1 /*
pmic 0:86129f1b4a93 2 * LowpassFilter.h
pmic 0:86129f1b4a93 3 * Copyright (c) 2018, ZHAW
pmic 0:86129f1b4a93 4 * All rights reserved.
pmic 0:86129f1b4a93 5 */
pmic 0:86129f1b4a93 6
pmic 0:86129f1b4a93 7 #ifndef LOWPASS_FILTER_H_
pmic 0:86129f1b4a93 8 #define LOWPASS_FILTER_H_
pmic 0:86129f1b4a93 9
pmic 0:86129f1b4a93 10 #include <cstdlib>
pmic 0:86129f1b4a93 11
pmic 0:86129f1b4a93 12 /**
pmic 0:86129f1b4a93 13 * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
pmic 0:86129f1b4a93 14 * This filter can typically be used within a periodic task that takes measurements that need
pmic 0:86129f1b4a93 15 * to be filtered, like speed or position values.
pmic 0:86129f1b4a93 16 */
pmic 4:9c003c402033 17 class LowpassFilter
pmic 4:9c003c402033 18 {
pmic 4:9c003c402033 19
pmic 4:9c003c402033 20 public:
pmic 4:9c003c402033 21
pmic 4:9c003c402033 22 LowpassFilter();
pmic 4:9c003c402033 23 virtual ~LowpassFilter();
pmic 4:9c003c402033 24 void reset();
pmic 4:9c003c402033 25 void reset(float value);
pmic 4:9c003c402033 26 void setPeriod(float period);
pmic 4:9c003c402033 27 void setFrequency(float frequency);
pmic 4:9c003c402033 28 float getFrequency();
pmic 4:9c003c402033 29 float filter(float value);
pmic 4:9c003c402033 30
pmic 4:9c003c402033 31 private:
pmic 4:9c003c402033 32
pmic 4:9c003c402033 33 float period;
pmic 4:9c003c402033 34 float frequency;
pmic 4:9c003c402033 35 float a11, a12, a21, a22, b1, b2;
pmic 4:9c003c402033 36 float x1, x2;
pmic 0:86129f1b4a93 37 };
pmic 0:86129f1b4a93 38
pmic 0:86129f1b4a93 39 #endif /* LOWPASS_FILTER_H_ */
pmic 0:86129f1b4a93 40
pmic 0:86129f1b4a93 41