Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
SimpleFilter/SimpleFilter.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
/** SimpleFilter implements a simple low pass integer "leaky integrator" described here: * * http://ece124web.groups.et.byu.net/references/readings/Simple%20Software%20Lowpass%20Filter.pdf * * Well suited for filtering ADC integer values very quickly * * Michael Shimniok http://bot-thoughts.com/ */ class SimpleFilter { public: /** Creates a new filter object * * @param shift: the number of shifts to perform at each filtering input step; lower means higher bandwidth */ SimpleFilter(short shift); /** Supplies input to the filter and returns filtered output value * * @param value is the input value to the filter, e.g., some measurement * @returns the filtered output value */ short filter(short value); /** Read the current value in the filter * * @returns the current value in the filter */ short value(void); /** Shorthand operator for value() * * @returns the current value in the filter */ operator short() { return value(); } private: long _filter_value; short _shift; };