work on trajectory, update cobboard and ballboard too

[aversive.git] / modules / devices / control_system / filters / quadramp / quadramp.h

diff --git a/modules/devices/control_system/filters/quadramp/quadramp.h b/modules/devices/control_system/filters/quadramp/quadramp.h
index 5e8100c..7073df0 100644 (file)
--- a/modules/devices/control_system/filters/quadramp/quadramp.h
+++ b/modules/devices/control_system/filters/quadramp/quadramp.h
@@ -26,12 +26,12 @@
 
 struct quadramp_filter
 {
 
 struct quadramp_filter
 {

-       uint32_t var_2nd_ord_pos;
-       uint32_t var_2nd_ord_neg;
-       uint32_t var_1st_ord_pos;
-       uint32_t var_1st_ord_neg;
+       double var_2nd_ord_pos;
+       double var_2nd_ord_neg;
+       double var_1st_ord_pos;
+       double var_1st_ord_neg;

 
 

-       int32_t previous_var;
+       double previous_var;

        int32_t previous_out;
        int32_t previous_in;
 };
        int32_t previous_out;
        int32_t previous_in;
 };


@@ -42,12 +42,12 @@ void quadramp_init(struct quadramp_filter *q);
 void quadramp_reset(struct quadramp_filter *q);
 
 void quadramp_set_2nd_order_vars(struct quadramp_filter *q,
 void quadramp_reset(struct quadramp_filter *q);
 
 void quadramp_set_2nd_order_vars(struct quadramp_filter *q,

-                                uint32_t var_2nd_ord_pos,
-                                uint32_t var_2nd_ord_neg);
+                                double var_2nd_ord_pos,
+                                double var_2nd_ord_neg);

 
 void quadramp_set_1st_order_vars(struct quadramp_filter *q,
 
 void quadramp_set_1st_order_vars(struct quadramp_filter *q,

-                                uint32_t var_1st_ord_pos,
-                                uint32_t var_1st_ord_neg);
+                                double var_1st_ord_pos,
+                                double var_1st_ord_neg);

 
 /**
  * Return 1 when (filter_input == filter_output && 1st_ord variation
 
 /**
  * Return 1 when (filter_input == filter_output && 1st_ord variation