Reads the encoder signals from 1 motor and displays the counts and degrees of the output shaft in Serial.
Dependencies: HIDScope_motor_ff QEI mbed FastPWM MODSERIAL
Fork of HID_scope_test by
BiQuad.h@9:278d25dc0ef3, 2016-10-28 (annotated)
- Committer:
- sjoerdbarts
- Date:
- Fri Oct 28 09:58:22 2016 +0000
- Revision:
- 9:278d25dc0ef3
- Parent:
- 8:fe907b9a0bab
Working code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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sjoerdbarts | 8:fe907b9a0bab | 1 | #ifndef BIQUAD_BIQUAD_H |
sjoerdbarts | 8:fe907b9a0bab | 2 | #define BIQUAD_BIQUAD_H |
sjoerdbarts | 8:fe907b9a0bab | 3 | |
sjoerdbarts | 8:fe907b9a0bab | 4 | #include <vector> |
sjoerdbarts | 8:fe907b9a0bab | 5 | #include <complex> |
sjoerdbarts | 8:fe907b9a0bab | 6 | |
sjoerdbarts | 8:fe907b9a0bab | 7 | class BiQuadChain; |
sjoerdbarts | 8:fe907b9a0bab | 8 | |
sjoerdbarts | 8:fe907b9a0bab | 9 | /** BiQuad class implements a single filter |
sjoerdbarts | 8:fe907b9a0bab | 10 | * |
sjoerdbarts | 8:fe907b9a0bab | 11 | * author: T.J.W. Lankhorst <t.j.w.lankhorst@student.utwente.nl> |
sjoerdbarts | 8:fe907b9a0bab | 12 | * |
sjoerdbarts | 8:fe907b9a0bab | 13 | * Filters that - in the z domain - are the ratio of two quadratic functions. The general form is: |
sjoerdbarts | 8:fe907b9a0bab | 14 | * |
sjoerdbarts | 8:fe907b9a0bab | 15 | * b0 + b1 z^-1 + b2 z^-2 |
sjoerdbarts | 8:fe907b9a0bab | 16 | * H(z) = ---------------------- |
sjoerdbarts | 8:fe907b9a0bab | 17 | * a0 + a1 z^-1 + a2 z^-2 |
sjoerdbarts | 8:fe907b9a0bab | 18 | * |
sjoerdbarts | 8:fe907b9a0bab | 19 | * Which is often normalized by dividing all coefficients by a0. |
sjoerdbarts | 8:fe907b9a0bab | 20 | * |
sjoerdbarts | 8:fe907b9a0bab | 21 | * Example: |
sjoerdbarts | 8:fe907b9a0bab | 22 | * @code |
sjoerdbarts | 8:fe907b9a0bab | 23 | * #include "mbed.h" |
sjoerdbarts | 8:fe907b9a0bab | 24 | * #include <complex> |
sjoerdbarts | 8:fe907b9a0bab | 25 | * |
sjoerdbarts | 8:fe907b9a0bab | 26 | * // Example: 4th order Butterworth LP (w_c = 0.1*f_nyquist) |
sjoerdbarts | 8:fe907b9a0bab | 27 | * BiQuad bq1( 4.16599e-04, 8.33198e-04, 4.16599e-04, -1.47967e+00, 5.55822e-01 ); |
sjoerdbarts | 8:fe907b9a0bab | 28 | * BiQuad bq2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.70096e+00, 7.88500e-01 ); |
sjoerdbarts | 8:fe907b9a0bab | 29 | * |
sjoerdbarts | 8:fe907b9a0bab | 30 | * BiQuadChain bqc; |
sjoerdbarts | 8:fe907b9a0bab | 31 | * |
sjoerdbarts | 8:fe907b9a0bab | 32 | * int main() { |
sjoerdbarts | 8:fe907b9a0bab | 33 | * |
sjoerdbarts | 8:fe907b9a0bab | 34 | * // Add the biquads to the chain |
sjoerdbarts | 8:fe907b9a0bab | 35 | * bqc.add( &bq1 ).add( &bq2 ); |
sjoerdbarts | 8:fe907b9a0bab | 36 | * |
sjoerdbarts | 8:fe907b9a0bab | 37 | * // Find the poles of the filter |
sjoerdbarts | 8:fe907b9a0bab | 38 | * std::cout << "Filter poles" << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 39 | * std::vector< std::complex<double> > poles = bqc.poles(); |
sjoerdbarts | 8:fe907b9a0bab | 40 | * for( size_t i = 0; i < poles.size(); i++ ) |
sjoerdbarts | 8:fe907b9a0bab | 41 | * std::cout << "\t" << poles[i] << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 42 | * |
sjoerdbarts | 8:fe907b9a0bab | 43 | * // Find the zeros of the filter |
sjoerdbarts | 8:fe907b9a0bab | 44 | * std::cout << "Filter zeros" << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 45 | * std::vector< std::complex<double> > zeros = bqc.zeros(); |
sjoerdbarts | 8:fe907b9a0bab | 46 | * for( size_t i = 0; i < poles.size(); i++ ) |
sjoerdbarts | 8:fe907b9a0bab | 47 | * std::cout << "\t" << zeros[i] << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 48 | * |
sjoerdbarts | 8:fe907b9a0bab | 49 | * // Is the filter stable? |
sjoerdbarts | 8:fe907b9a0bab | 50 | * std::cout << "This filter is " << (bqc.stable() ? "stable" : "instable") << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 51 | * |
sjoerdbarts | 8:fe907b9a0bab | 52 | * // Output the step-response of 20 samples |
sjoerdbarts | 8:fe907b9a0bab | 53 | * std::cout << "Step response 20 samples" << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 54 | * for( int i = 0; i < 20; i++ ) |
sjoerdbarts | 8:fe907b9a0bab | 55 | * std::cout << "\t" << bqc.step( 1.0 ) << std::endl; |
sjoerdbarts | 8:fe907b9a0bab | 56 | * } |
sjoerdbarts | 8:fe907b9a0bab | 57 | * @endcode |
sjoerdbarts | 8:fe907b9a0bab | 58 | * |
sjoerdbarts | 8:fe907b9a0bab | 59 | * https://github.com/tomlankhorst/biquad |
sjoerdbarts | 8:fe907b9a0bab | 60 | * |
sjoerdbarts | 8:fe907b9a0bab | 61 | */ |
sjoerdbarts | 8:fe907b9a0bab | 62 | class BiQuad { |
sjoerdbarts | 8:fe907b9a0bab | 63 | |
sjoerdbarts | 8:fe907b9a0bab | 64 | private: |
sjoerdbarts | 8:fe907b9a0bab | 65 | |
sjoerdbarts | 8:fe907b9a0bab | 66 | double B[3]; |
sjoerdbarts | 8:fe907b9a0bab | 67 | double A[2]; |
sjoerdbarts | 8:fe907b9a0bab | 68 | double wz[2]; |
sjoerdbarts | 8:fe907b9a0bab | 69 | |
sjoerdbarts | 8:fe907b9a0bab | 70 | bool resetStateOnGainChange; |
sjoerdbarts | 8:fe907b9a0bab | 71 | |
sjoerdbarts | 8:fe907b9a0bab | 72 | /** |
sjoerdbarts | 8:fe907b9a0bab | 73 | * Sets the gain parameters |
sjoerdbarts | 8:fe907b9a0bab | 74 | */ |
sjoerdbarts | 8:fe907b9a0bab | 75 | void set( double b0, double b1, double b2, double a1, double a2 ); |
sjoerdbarts | 8:fe907b9a0bab | 76 | |
sjoerdbarts | 8:fe907b9a0bab | 77 | public: |
sjoerdbarts | 8:fe907b9a0bab | 78 | |
sjoerdbarts | 8:fe907b9a0bab | 79 | /** |
sjoerdbarts | 8:fe907b9a0bab | 80 | * Initialize a unity TF biquad |
sjoerdbarts | 8:fe907b9a0bab | 81 | * @return BiQuad instance |
sjoerdbarts | 8:fe907b9a0bab | 82 | */ |
sjoerdbarts | 8:fe907b9a0bab | 83 | BiQuad( ); |
sjoerdbarts | 8:fe907b9a0bab | 84 | |
sjoerdbarts | 8:fe907b9a0bab | 85 | /** |
sjoerdbarts | 8:fe907b9a0bab | 86 | * Initialize a normalized biquad filter |
sjoerdbarts | 8:fe907b9a0bab | 87 | * @param b0 |
sjoerdbarts | 8:fe907b9a0bab | 88 | * @param b1 |
sjoerdbarts | 8:fe907b9a0bab | 89 | * @param b2 |
sjoerdbarts | 8:fe907b9a0bab | 90 | * @param a1 |
sjoerdbarts | 8:fe907b9a0bab | 91 | * @param a2 |
sjoerdbarts | 8:fe907b9a0bab | 92 | * @return BiQuad instance |
sjoerdbarts | 8:fe907b9a0bab | 93 | */ |
sjoerdbarts | 8:fe907b9a0bab | 94 | BiQuad( double b0, double b1, double b2, double a1, double a2 ); |
sjoerdbarts | 8:fe907b9a0bab | 95 | |
sjoerdbarts | 8:fe907b9a0bab | 96 | /** |
sjoerdbarts | 8:fe907b9a0bab | 97 | * Initialize a biquad filter with all six coefficients |
sjoerdbarts | 8:fe907b9a0bab | 98 | * @param b0 |
sjoerdbarts | 8:fe907b9a0bab | 99 | * @param b1 |
sjoerdbarts | 8:fe907b9a0bab | 100 | * @param b2 |
sjoerdbarts | 8:fe907b9a0bab | 101 | * @param a0 |
sjoerdbarts | 8:fe907b9a0bab | 102 | * @param a1 |
sjoerdbarts | 8:fe907b9a0bab | 103 | * @param a2 |
sjoerdbarts | 8:fe907b9a0bab | 104 | * @return BiQuad instance |
sjoerdbarts | 8:fe907b9a0bab | 105 | */ |
sjoerdbarts | 8:fe907b9a0bab | 106 | BiQuad( double b0, double b1, double b2, double a0, double a1, double a2 ); |
sjoerdbarts | 8:fe907b9a0bab | 107 | |
sjoerdbarts | 8:fe907b9a0bab | 108 | /** |
sjoerdbarts | 8:fe907b9a0bab | 109 | * Initialize a PIDF biquad. |
sjoerdbarts | 8:fe907b9a0bab | 110 | * Based on Tustin-approx (trapezoidal) of the continous time version. |
sjoerdbarts | 8:fe907b9a0bab | 111 | * Behaviour equivalent to the PID controller created with the following MATLAB expression: |
sjoerdbarts | 8:fe907b9a0bab | 112 | * |
sjoerdbarts | 8:fe907b9a0bab | 113 | * C = pid( Kp, Ki, Kd, 1/N, Ts, 'IFormula', 'Trapezoidal', 'DFormula', 'Trapezoidal' ); |
sjoerdbarts | 8:fe907b9a0bab | 114 | * |
sjoerdbarts | 8:fe907b9a0bab | 115 | * @param Kp Proportional gain |
sjoerdbarts | 8:fe907b9a0bab | 116 | * @param Ki Integral gain |
sjoerdbarts | 8:fe907b9a0bab | 117 | * @param Kd Derivative gain |
sjoerdbarts | 8:fe907b9a0bab | 118 | * @param N Filter coefficient ( N = 1/Tf ) |
sjoerdbarts | 8:fe907b9a0bab | 119 | * @param Ts Timestep |
sjoerdbarts | 8:fe907b9a0bab | 120 | */ |
sjoerdbarts | 8:fe907b9a0bab | 121 | void PIDF( double Kp, double Ki, double Kd, double N, double Ts ); |
sjoerdbarts | 8:fe907b9a0bab | 122 | |
sjoerdbarts | 8:fe907b9a0bab | 123 | /** |
sjoerdbarts | 8:fe907b9a0bab | 124 | * Execute one digital timestep and return the result... |
sjoerdbarts | 8:fe907b9a0bab | 125 | * @param x input of the filer |
sjoerdbarts | 8:fe907b9a0bab | 126 | * @return output of the filter |
sjoerdbarts | 8:fe907b9a0bab | 127 | */ |
sjoerdbarts | 8:fe907b9a0bab | 128 | double step( double x ); |
sjoerdbarts | 8:fe907b9a0bab | 129 | |
sjoerdbarts | 8:fe907b9a0bab | 130 | /** |
sjoerdbarts | 8:fe907b9a0bab | 131 | * Return poles of the BiQuad filter |
sjoerdbarts | 8:fe907b9a0bab | 132 | * @return vector of std::complex poles |
sjoerdbarts | 8:fe907b9a0bab | 133 | */ |
sjoerdbarts | 8:fe907b9a0bab | 134 | std::vector< std::complex<double> > poles( ); |
sjoerdbarts | 8:fe907b9a0bab | 135 | |
sjoerdbarts | 8:fe907b9a0bab | 136 | /** |
sjoerdbarts | 8:fe907b9a0bab | 137 | * Return zeros of the BiQuad filter |
sjoerdbarts | 8:fe907b9a0bab | 138 | * @return vector of std::complex zeros |
sjoerdbarts | 8:fe907b9a0bab | 139 | */ |
sjoerdbarts | 8:fe907b9a0bab | 140 | std::vector< std::complex<double> > zeros( ); |
sjoerdbarts | 8:fe907b9a0bab | 141 | |
sjoerdbarts | 8:fe907b9a0bab | 142 | /** |
sjoerdbarts | 8:fe907b9a0bab | 143 | * Is this biquad stable? |
sjoerdbarts | 8:fe907b9a0bab | 144 | * Checks if all poles lie within the unit-circle |
sjoerdbarts | 8:fe907b9a0bab | 145 | * @return boolean whether the filter is stable or not |
sjoerdbarts | 8:fe907b9a0bab | 146 | */ |
sjoerdbarts | 8:fe907b9a0bab | 147 | bool stable (); |
sjoerdbarts | 8:fe907b9a0bab | 148 | |
sjoerdbarts | 8:fe907b9a0bab | 149 | /** |
sjoerdbarts | 8:fe907b9a0bab | 150 | * Determines if the state variables are reset to zero on gain change. |
sjoerdbarts | 8:fe907b9a0bab | 151 | * Can be used for changing gain parameters on the fly. |
sjoerdbarts | 8:fe907b9a0bab | 152 | * @param v Value of the reset boolean |
sjoerdbarts | 8:fe907b9a0bab | 153 | */ |
sjoerdbarts | 8:fe907b9a0bab | 154 | void setResetStateOnGainChange( bool v ); |
sjoerdbarts | 8:fe907b9a0bab | 155 | |
sjoerdbarts | 8:fe907b9a0bab | 156 | }; |
sjoerdbarts | 8:fe907b9a0bab | 157 | |
sjoerdbarts | 8:fe907b9a0bab | 158 | /** |
sjoerdbarts | 8:fe907b9a0bab | 159 | * The BiQuadChain class implements a chain of BiQuad filters |
sjoerdbarts | 8:fe907b9a0bab | 160 | */ |
sjoerdbarts | 8:fe907b9a0bab | 161 | class BiQuadChain { |
sjoerdbarts | 8:fe907b9a0bab | 162 | |
sjoerdbarts | 8:fe907b9a0bab | 163 | private: |
sjoerdbarts | 8:fe907b9a0bab | 164 | std::vector< BiQuad* > biquads; |
sjoerdbarts | 8:fe907b9a0bab | 165 | std::vector< std::complex<double> > poles_zeros( bool zeros = false ); |
sjoerdbarts | 8:fe907b9a0bab | 166 | |
sjoerdbarts | 8:fe907b9a0bab | 167 | public: |
sjoerdbarts | 8:fe907b9a0bab | 168 | |
sjoerdbarts | 8:fe907b9a0bab | 169 | /** |
sjoerdbarts | 8:fe907b9a0bab | 170 | * Add a BiQuad pointer to the list: bqc.add(&bq); |
sjoerdbarts | 8:fe907b9a0bab | 171 | * @param bq Pointer to BiQuad instance |
sjoerdbarts | 8:fe907b9a0bab | 172 | * @return Pointer to BiQuadChain |
sjoerdbarts | 8:fe907b9a0bab | 173 | */ |
sjoerdbarts | 8:fe907b9a0bab | 174 | BiQuadChain &add( BiQuad *bq ); |
sjoerdbarts | 8:fe907b9a0bab | 175 | |
sjoerdbarts | 8:fe907b9a0bab | 176 | /** |
sjoerdbarts | 8:fe907b9a0bab | 177 | * Execute a digital time step cascaded through all bq's |
sjoerdbarts | 8:fe907b9a0bab | 178 | * @param x Input of the filter chain |
sjoerdbarts | 8:fe907b9a0bab | 179 | * @return Output of the chain |
sjoerdbarts | 8:fe907b9a0bab | 180 | */ |
sjoerdbarts | 8:fe907b9a0bab | 181 | double step(double x); |
sjoerdbarts | 8:fe907b9a0bab | 182 | |
sjoerdbarts | 8:fe907b9a0bab | 183 | /** |
sjoerdbarts | 8:fe907b9a0bab | 184 | * Return poles of the BiQuad filter |
sjoerdbarts | 8:fe907b9a0bab | 185 | * @return vector of std::complex poles |
sjoerdbarts | 8:fe907b9a0bab | 186 | */ |
sjoerdbarts | 8:fe907b9a0bab | 187 | std::vector< std::complex<double> > poles( ); |
sjoerdbarts | 8:fe907b9a0bab | 188 | |
sjoerdbarts | 8:fe907b9a0bab | 189 | /** |
sjoerdbarts | 8:fe907b9a0bab | 190 | * Return zeros of the BiQuad filter |
sjoerdbarts | 8:fe907b9a0bab | 191 | * @return vector of std::complex zeros |
sjoerdbarts | 8:fe907b9a0bab | 192 | */ |
sjoerdbarts | 8:fe907b9a0bab | 193 | std::vector< std::complex<double> > zeros( ); |
sjoerdbarts | 8:fe907b9a0bab | 194 | |
sjoerdbarts | 8:fe907b9a0bab | 195 | /** |
sjoerdbarts | 8:fe907b9a0bab | 196 | * Is this biquad-chain stable? |
sjoerdbarts | 8:fe907b9a0bab | 197 | * Checks if all poles lie within the unit-circle |
sjoerdbarts | 8:fe907b9a0bab | 198 | * @return boolean whether the chain is stable or not |
sjoerdbarts | 8:fe907b9a0bab | 199 | */ |
sjoerdbarts | 8:fe907b9a0bab | 200 | bool stable (); |
sjoerdbarts | 8:fe907b9a0bab | 201 | |
sjoerdbarts | 8:fe907b9a0bab | 202 | /** |
sjoerdbarts | 8:fe907b9a0bab | 203 | * Appends a BiQuad to the chain |
sjoerdbarts | 8:fe907b9a0bab | 204 | * Shorthand for .add(&bq) |
sjoerdbarts | 8:fe907b9a0bab | 205 | * @param bq BiQuad |
sjoerdbarts | 8:fe907b9a0bab | 206 | * @return Pointer to BiQuadChain |
sjoerdbarts | 8:fe907b9a0bab | 207 | */ |
sjoerdbarts | 8:fe907b9a0bab | 208 | BiQuadChain &operator*( BiQuad& bq ); |
sjoerdbarts | 8:fe907b9a0bab | 209 | |
sjoerdbarts | 8:fe907b9a0bab | 210 | }; |
sjoerdbarts | 8:fe907b9a0bab | 211 | |
sjoerdbarts | 8:fe907b9a0bab | 212 | /** |
sjoerdbarts | 8:fe907b9a0bab | 213 | * Multiply two BiQuads |
sjoerdbarts | 8:fe907b9a0bab | 214 | * ... which in fact means appending them into a BiQuadChain |
sjoerdbarts | 8:fe907b9a0bab | 215 | * @return BiQuadChain of the two BiQuads |
sjoerdbarts | 8:fe907b9a0bab | 216 | */ |
sjoerdbarts | 8:fe907b9a0bab | 217 | BiQuadChain operator*( BiQuad&, BiQuad& ); |
sjoerdbarts | 8:fe907b9a0bab | 218 | |
sjoerdbarts | 8:fe907b9a0bab | 219 | #endif //BIQUAD_BIQUAD_H |