HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

basic_filter.h
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1 /*
2 * Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #ifndef __BASIC_FILTER_H
18 #define __BASIC_FILTER_H
19
20 #include "../main.h"
21
36 typedef struct
37 {
38 float32_t tau,
39 filteredValue;
40 } bfilt_BasicFilter;
41
42 void bfilt_Init(bfilt_BasicFilter* filter, float32_t tau, float32_t initialValue);
43 float32_t bfilt_Step(bfilt_BasicFilter* filter, float32_t newValue);
44
49 #endif
bfilt_BasicFilter::tau
float32_t tau
The strength of the filter (0.0-1.0). 0 filters the most, 1 does not filter.
Definition: basic_filter.h:38
bfilt_BasicFilter
Basic filter structure.
Definition: basic_filter.h:36
bfilt_Step
float32_t bfilt_Step(bfilt_BasicFilter *filter, float32_t newValue)
Step a BasicFilter structure.
Definition: basic_filter.c:38
bfilt_Init
void bfilt_Init(bfilt_BasicFilter *filter, float32_t tau, float32_t initialValue)
Initialize a BasicFilter structure.
Definition: basic_filter.c:25