private double[] EncLowPassFilter(double[] dataenc, double[] last_e

nc_data, double Tss)

{
double Tf = 10 * Tss;
double a = Tss / (Tf + Tss);
double[] CurrentEnc = new double[2];
CurrentEnc[0] = (1 - a) * last_enc_data[0] + a * dataenc[0];
CurrentEnc[1] = (1 - a) * last_enc_data[1] + a * dataenc[1];
return CurrentEnc;
}
//Tss=0.02 --> Tf