#!/usr/bin/python

# Low Pass Filter used to obtain a smooth response from the joystick's potenciomenters and keyboard's arrows
filteredDataFR=[0,0,0,0]
filteredDataLR=[0,0,0,0]
LPFgainFR=0.1
LPFgainLR=0.33


# We use two filters, one to Forward/Reverse situation and one for the Turn situation
class LowPassFilter():
	def lowPassFilterFR(self, directionForwardReverse):	
		filteredDataFR[0]=directionForwardReverse*LPFgainFR+filteredDataFR[1]*(1-LPFgainFR)
		filteredDataFR[1]=filteredDataFR[0]
		
		return filteredDataFR[0]
		
	
	def lowPassFilterLR(self, directionLeftTRight):
		filteredDataLR[0]=directionLeftTRight*LPFgainLR+filteredDataLR[1]*(1-LPFgainLR)
		filteredDataLR[1]=filteredDataLR[0]

		return filteredDataLR[0]

@@ -11,17 +11,16 @@
 /python%0A
-%0A
 # Low Pa

Update LowPassFilter.py