LPF.cpp

[詳解]

#include "LPF.h"

float LPF::sensor(std::int32_t current_sensor)
{
  // pre_sensorの初期化
  if(pre_sensor == 0) {
    pre_sensor = current_sensor;
    return static_cast<double>(current_sensor);
  }

  // RCフィルタ処理
  return RCFilter(current_sensor);
}

float LPF::RCFilter(std::int32_t current_sensor)
{
  // RCフィルタにおける係数(通常、0.8 or 0.9)
  constexpr double coefficient = 0.9;
  auto filtered = coefficient * pre_sensor + (1 - coefficient) * current_sensor;

  // センサ値の上書き
  pre_sensor = current_sensor;

  return filtered;
}