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uncrustify libraries/Filter/examples/Derivative/Derivative.pde

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uncrustify 2012-08-16 23:22:10 -07:00 committed by Pat Hickey
parent 70d18ec87c
commit e5b317cb42
1 changed files with 30 additions and 30 deletions
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60
libraries/Filter/examples/Derivative/Derivative.pde
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@ -1,6 +1,6 @@
/* /*
Example sketch to demonstrate use of DerivativeFilter library. * Example sketch to demonstrate use of DerivativeFilter library.
*/ */
#include <FastSerial.h> #include <FastSerial.h>
#include <AP_Common.h> #include <AP_Common.h>
@ -10,23 +10,23 @@
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
// all of this is needed to build with SITL // all of this is needed to build with SITL
#include <DataFlash.h> #include <DataFlash.h>
#include <APM_RC.h> #include <APM_RC.h>
#include <GCS_MAVLink.h> #include <GCS_MAVLink.h>
#include <Arduino_Mega_ISR_Registry.h> #include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h> #include <AP_PeriodicProcess.h>
#include <AP_ADC.h> #include <AP_ADC.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_Compass.h> #include <AP_Compass.h>
#include <AP_GPS.h> #include <AP_GPS.h>
#include <Filter.h> #include <Filter.h>
#include <SITL.h> #include <SITL.h>
#include <I2C.h> #include <I2C.h>
#include <SPI.h> #include <SPI.h>
#include <AP_Declination.h> #include <AP_Declination.h>
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass; AP_Compass_HIL compass;
SITL sitl; SITL sitl;
#endif #endif
@ -37,25 +37,25 @@ DerivativeFilter<float,11> derivative;
// setup routine // setup routine
void setup() void setup()
{ {
// Open up a serial connection // Open up a serial connection
Serial.begin(115200); Serial.begin(115200);
} }
static float noise(void) static float noise(void)
{ {
return ((random() % 100)-50) * 0.001; return ((random() % 100)-50) * 0.001;
} }
//Main loop where the action takes place //Main loop where the action takes place
void loop() void loop()
{ {
delay(50); delay(50);
float t = millis()*1.0e-3; float t = millis()*1.0e-3;
float s = sin(t); float s = sin(t);
//s += noise(); //s += noise();
uint32_t t1 = micros(); uint32_t t1 = micros();
derivative.update(s, t1); derivative.update(s, t1);
float output = derivative.slope() * 1.0e6; float output = derivative.slope() * 1.0e6;
uint32_t t2 = micros(); uint32_t t2 = micros();
Serial.printf("%f %f %f %f\n", t, output, s, cos(t)); Serial.printf("%f %f %f %f\n", t, output, s, cos(t));
} }