Added non zero filer alpha

hytech-racing · May 18, 2024 · 0c6639f · 0c6639f
1 parent 7ab723e
commit 0c6639f
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Showing 2 changed files with 6 additions and 10 deletions.
diff --git a/lib/systems/include/SteeringSystem.h b/lib/systems/include/SteeringSystem.h
@@ -12,6 +12,8 @@
 // TODO: evalaute reasonable thresholds for agreement
 #define STEERING_DIVERGENCE_ERROR_THRESHOLD (14.0) // Steering sensors can disagree by x degrees before output is considered erroneous
 #define STEERING_DIVERGENCE_WARN_THRESHOLD (8.0) // Warning condition will be raised when steering sensors diverge x degrees
+#define NUM_SENSORS 2
+#define DEFAULT_STEERING_ALPHA (0.0)
 
 // Enums
 enum class SteeringSystemStatus_e
@@ -52,18 +54,12 @@ class SteeringSystem
     float filteredAngleSecondary_;
 public:
     SteeringSystem(SteeringEncoderInterface *primarySensor)
-    : primarySensor_(primarySensor)
+    : SteeringSystem(primarySensor, DEFAULT_STEERING_ALPHA)
     {}
 
     SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlpha)
-    : primarySensor_(primarySensor)
-    {
-        for (int i = 0; i < NUM_SENSORS; i++)
-        {
-            steeringFilters_[i] = Filter_IIR<float>(filterAlpha);
-        }
-
-    }
+    : SteeringSystem(primarySensor, filterAlpha, filterAlpha)
+    {}
 
     SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlphaPrimary, float filterAlphaSecondary)
     : primarySensor_(primarySensor)

diff --git a/src/main.cpp b/src/main.cpp
@@ -142,7 +142,7 @@ struct inverters
 // */
 
 SysClock sys_clock;
-SteeringSystem steering_system(&steering1);
+SteeringSystem steering_system(&steering1, 0.8);
 BuzzerController buzzer(BUZZER_ON_INTERVAL);
 
 SafetySystem safety_system(&ams_interface, &wd_interface);