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[wpimath] Document conversion from filter cutoff frequency to time constant (#3299)

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This commit is contained in:
Tyler Veness
2021-04-12 11:12:52 -07:00
committed by GitHub
parent 3848eb8b16
commit 948625de9d
2 changed files with 12 additions and 0 deletions
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6
wpimath/src/main/native/include/frc/LinearFilter.h
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@@ -104,6 +104,9 @@ class LinearFilter {
* y[n] = (1 - gain) * x[n] + gain * y[n-1]<br>
* where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
*
* Note: T = 1 / (2 pi f) where f is the cutoff frequency in Hz, the frequency
* above which the input starts to attenuate.
*
* This filter is stable for time constants greater than zero.
*
* @param timeConstant The discrete-time time constant in seconds.
@@ -121,6 +124,9 @@ class LinearFilter {
* y[n] = gain * x[n] + (-gain) * x[n-1] + gain * y[n-1]<br>
* where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
*
* Note: T = 1 / (2 pi f) where f is the cutoff frequency in Hz, the frequency
* below which the input starts to attenuate.
*
* This filter is stable for time constants greater than zero.
*
* @param timeConstant The discrete-time time constant in seconds.