Michael Shimniok / Mbed 2 deprecated DataBus

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@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 /** SimpleFilter implements a simple low pass integer "leaky integrator" described here:
shimniok 0:a6a169de725f 2 *
shimniok 0:a6a169de725f 3 * http://ece124web.groups.et.byu.net/references/readings/Simple%20Software%20Lowpass%20Filter.pdf
shimniok 0:a6a169de725f 4 *
shimniok 0:a6a169de725f 5 * Well suited for filtering ADC integer values very quickly
shimniok 0:a6a169de725f 6 *
shimniok 0:a6a169de725f 7 * Michael Shimniok http://bot-thoughts.com/
shimniok 0:a6a169de725f 8 */
shimniok 0:a6a169de725f 9 class SimpleFilter {
shimniok 0:a6a169de725f 10 public:
shimniok 0:a6a169de725f 11 /** Creates a new filter object
shimniok 0:a6a169de725f 12 *
shimniok 0:a6a169de725f 13 * @param shift: the number of shifts to perform at each filtering input step; lower means higher bandwidth
shimniok 0:a6a169de725f 14 */
shimniok 0:a6a169de725f 15 SimpleFilter(short shift);
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 /** Supplies input to the filter and returns filtered output value
shimniok 0:a6a169de725f 18 *
shimniok 0:a6a169de725f 19 * @param value is the input value to the filter, e.g., some measurement
shimniok 0:a6a169de725f 20 * @returns the filtered output value
shimniok 0:a6a169de725f 21 */
shimniok 0:a6a169de725f 22 short filter(short value);
shimniok 0:a6a169de725f 23
shimniok 0:a6a169de725f 24 /** Read the current value in the filter
shimniok 0:a6a169de725f 25 *
shimniok 0:a6a169de725f 26 * @returns the current value in the filter
shimniok 0:a6a169de725f 27 */
shimniok 0:a6a169de725f 28 short value(void);
shimniok 0:a6a169de725f 29
shimniok 0:a6a169de725f 30 /** Shorthand operator for value()
shimniok 0:a6a169de725f 31 *
shimniok 0:a6a169de725f 32 * @returns the current value in the filter
shimniok 0:a6a169de725f 33 */
shimniok 0:a6a169de725f 34 operator short() { return value(); }
shimniok 0:a6a169de725f 35
shimniok 0:a6a169de725f 36 private:
shimniok 0:a6a169de725f 37 long _filter_value;
shimniok 0:a6a169de725f 38 short _shift;
shimniok 0:a6a169de725f 39 };