Median Filter.txt

@@ -1,50 +0,0 @@
-#Best for spike/impulse rejection (e.g. sensor glitches). Uses insertion sort on the buffer. 
-
-FUNCTION_BLOCK FB_MedianFilter
-VAR_INPUT
-    xEnable     : BOOL;
-    rInput      : REAL;
-    iWindowSize : INT := 7;    // Odd number recommended, max 15
-END_VAR
-VAR_OUTPUT
-    rOutput : REAL;
-END_VAR
-VAR
-    arBuffer : ARRAY[0..14] OF REAL;
-    arSorted : ARRAY[0..14] OF REAL;
-    iIndex   : INT := 0;
-    iCount   : INT := 0;
-    iWin     : INT;
-    i, j     : INT;
-    rTemp    : REAL;
-END_VAR
-
-IF NOT xEnable THEN
-    iIndex := 0; iCount := 0; rOutput := rInput;
-    RETURN;
-END_IF;
-
-iWin := MIN(MAX(iWindowSize, 1), 15);
-
-arBuffer[iIndex] := rInput;
-iIndex := (iIndex + 1) MOD iWin;
-IF iCount < iWin THEN iCount := iCount + 1; END_IF;
-
-// Copy to sort buffer
-FOR i := 0 TO iCount - 1 DO
-    arSorted[i] := arBuffer[i];
-END_FOR;
-
-// Insertion sort
-FOR i := 1 TO iCount - 1 DO
-    rTemp := arSorted[i];
-    j := i - 1;
-    WHILE (j >= 0) AND (arSorted[j] > rTemp) DO
-        arSorted[j + 1] := arSorted[j];
-        j := j - 1;
-    END_WHILE;
-    arSorted[j + 1] := rTemp;
-END_FOR;
-
-// Pick middle element
-rOutput := arSorted[iCount / 2];

Rate Limiter Slew Rate Filter.txt

@@ -1,37 +0,0 @@
-#Limits how fast the signal can change per scan cycle — useful for preventing actuator shock.
-
-FUNCTION_BLOCK FB_RateLimiter
-VAR_INPUT
-    xEnable      : BOOL;
-    rInput       : REAL;
-    rMaxRiseRate : REAL := 10.0;   // Max units per second rising
-    rMaxFallRate : REAL := 10.0;   // Max units per second falling
-    rCycleTimeS  : REAL := 0.1;    // OB cycle time in seconds
-END_VAR
-VAR_OUTPUT
-    rOutput : REAL;
-END_VAR
-VAR
-    xFirst : BOOL := TRUE;
-    rMaxStep : REAL;
-    rMinStep : REAL;
-    rDelta   : REAL;
-END_VAR
-
-IF NOT xEnable THEN
-    xFirst  := TRUE;
-    rOutput := rInput;
-    RETURN;
-END_IF;
-
-IF xFirst THEN
-    rOutput := rInput;
-    xFirst  := FALSE;
-    RETURN;
-END_IF;
-
-rMaxStep :=  rMaxRiseRate * rCycleTimeS;
-rMinStep := -rMaxFallRate * rCycleTimeS;
-rDelta   := rInput - rOutput;
-rDelta   := MAX(MIN(rDelta, rMaxStep), rMinStep);
-rOutput  := rOutput + rDelta;