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ilowpass − Low-pass filter with integer inputs and outputs |
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loadrt ilowpass [count=N] |
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While it may find other applications, this component was written to create smoother motion while jogging with an MPG. In a machine with high acceleration, a short jog can behave almost like a step function. By putting the ilowpass component between the MPG encoder counts output and the axis jog-counts input, this can be smoothed. Choose scale conservatively so that during a single session there will never be more than about 2e9/scale pulses seen on the MPG. Choose gain according to the smoothing level desired. Divide the axis.N.jog-scale values by scale. |
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ilowpass.N (uses floating-point) |
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Update the output based on the input and parameters |
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ilowpass.N.in s32 in |
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ilowpass.N.out s32 out |
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out tracks in*scale through a low-pass filter of gain per period. |
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ilowpass.N.scale float rw (default: 1024) |
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A scale factor applied to the output value of the low-pass filter. |
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ilowpass.N.gain float rw (default: .5) |
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Together with the period, sets the rate at which the output changes. Useful range is between 0 and 1, with higher values causing the input value to be tracked more quickly. For instance, a setting of 0.9 causes the output value to go 90% of the way towards the input value in each period |
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GPL |