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Dependencies:   mbed ros_lib_kinetic

utilities.cpp

Committer:
Knillinux
Date:
2018-06-22
Revision:
1:40bdbe1a93b7
Parent:
0:dd126a1080d3
Child:
5:864709d3eb76

File content as of revision 1:40bdbe1a93b7:


#include "utilities.h"
#include "mbed.h"

namespace utils {
    
    float smooth(float data, float filterVal, float smoothedVal) {
    
        if (filterVal > 1) {      // check to make sure param's are within range
            filterVal = .99;
        }  else if (filterVal <= 0) {
            filterVal = 0;
        }
        
        smoothedVal = (data * (1 - filterVal)) + (smoothedVal  *  filterVal);
        
        return (float)smoothedVal;
    }
    
    float min(float a, float b) {
        if (a < b)
            return a;
        else
            return b;
    }

} // end utils namespace