Diff: refGen.cpp

Revision:

4:38af2aa14a3f

Parent:

3:43d9f8db93b7

Child:

5:7186da6f562f

--- a/refGen.cpp	Fri Oct 20 16:28:30 2017 +0000
+++ b/refGen.cpp	Sun Oct 22 08:01:03 2017 +0000
@@ -1,12 +1,13 @@
 #include "refGen.h"
 #include "mbed.h"
+#include "biquadChain.h"
 
 // Member function definitions
 refGen::refGen(PinName a, float maxAngle):refPin(a), maxAngle(maxAngle), r_direction(false){
 
     }
 
-float refGen :: getReferencePosition(){
+float refGen :: getReference(){
     float r;
     if(r_direction == false){
         // Clockwise rotation yields positive reference
@@ -17,4 +18,19 @@
         r = -1*maxAngle*refPin.read();
         }
     return r;
+    }
+    
+float refGen :: getFilteredReference(biquadChain BQC){
+    float r;
+    if(r_direction == false){
+        // Clockwise rotation yields positive reference
+        r = maxAngle*refPin.read();
+        r = BQC.applyFilter(r);
+        }
+    if(r_direction == true){
+        // Counterclockwise rotation yields negative reference
+        r = -1*maxAngle*refPin.read();
+        r = BQC.applyFilter(r);
+        }
+    return r;
     }
\ No newline at end of file