Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

filter_constants.cpp@130:2542f844ba1e, 2015-10-30 (annotated)

Committer:
annesteenbeek
Date:
Fri Oct 30 10:32:49 2015 +0100
Revision:
130:2542f844ba1e
Parent:
113:7af0ae9a24c0 
changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bjornnijhuis 75:9995528bf8b7 1 #include "mbed.h"
bjornnijhuis 75:9995528bf8b7 2 #include "filter_constants.h"
bjornnijhuis 75:9995528bf8b7 3 #include "emg.h"
bjornnijhuis 75:9995528bf8b7 4
bjornnijhuis 75:9995528bf8b7 5 /*------------------------------------
bjornnijhuis 75:9995528bf8b7 6 All constants for EMG processing
bjornnijhuis 75:9995528bf8b7 7 ------------------------------------*/
bjornnijhuis 75:9995528bf8b7 8
bjornnijhuis 75:9995528bf8b7 9 const double sample_frequency = 200; // Sample frequency [Hz]
bjornnijhuis 75:9995528bf8b7 10
bjornnijhuis 75:9995528bf8b7 11 // Define normalizing parameters
bjornnijhuis 75:9995528bf8b7 12 const int normalize_time = 2000; // Normalizing time [ms]
bjornnijhuis 75:9995528bf8b7 13 const int normalize_wait = 4000; // Normalizing wait time [ms]
bjornnijhuis 75:9995528bf8b7 14
bjornnijhuis 75:9995528bf8b7 15 // Define thresholds
bjornnijhuis 75:9995528bf8b7 16 const double UPT = 0.35; // Upper Treshold Value (0-1)
bjornnijhuis 75:9995528bf8b7 17 const double LPT = 0.2; // Lower Treshold Vvalue (0-1)
bjornnijhuis 75:9995528bf8b7 18 const double LST = 100; // Lower Switch Time [ms]
bjornnijhuis 75:9995528bf8b7 19 const double UST = 500; // Upper Switch Time [ms]
bjornnijhuis 75:9995528bf8b7 20
bjornnijhuis 75:9995528bf8b7 21 // Define filter constants
bjornnijhuis 75:9995528bf8b7 22 double f11_v1=0, f11_v2=0, f12_v1=0, f12_v2=0, f13_v1=0, f13_v2=0;
bjornnijhuis 75:9995528bf8b7 23 double f11_v1b=0, f11_v2b=0, f12_v1b=0, f12_v2b=0, f13_v1b=0, f13_v2b=0;
bjornnijhuis 75:9995528bf8b7 24 const double f11_gain = 0.907616, f11_a1 = 0.00000000267, f11_a2 = 0.77693864001, f11_b0 = 1, f11_b1 = 0.00000000301, f11_b2 = 1; // Constants for pre-filter BiQuad: Bandstop 48-52Hz #1
bjornnijhuis 75:9995528bf8b7 25 const double f12_gain = 0.857718, f12_a1 = -0.20392089403, f12_a2 = 0.88318656585, f12_b0 = 1, f12_b1 = 0.00000000301, f12_b2 = 1; // Constants for pre-filter BiQuad: Bandstop 48-52Hz #2
bjornnijhuis 75:9995528bf8b7 26 const double f13_gain = 1 , f13_a1 = 0.20392089964, f13_a2 = 0.88318656589, f13_b0 = 1, f13_b1 = 0.00000000301, f13_b2 = 1; // Constants for pre-filter BiQuad: Bandstop 48-52Hz #3
bjornnijhuis 75:9995528bf8b7 27
bjornnijhuis 75:9995528bf8b7 28 double f21_v1=0, f21_v2=0, f22_v1=0, f22_v2=0, f23_v1=0, f23_v2=0;
bjornnijhuis 75:9995528bf8b7 29 double f21_v1b=0, f21_v2b=0, f22_v1b=0, f22_v2b=0, f23_v1b=0, f23_v2b=0;
annesteenbeek 108:b7beb67a1313 30 const double f21_gain = 0.571868, f21_a1 = -1.01850473939, f21_a2 = 0.26893113176, f21_b0 = 1, f21_b1 = -2, f21_b2 = 1; // Constants for pre-filter BiQuad: Highpass 20 Hz #1
annesteenbeek 108:b7beb67a1313 31 const double f22_gain = 0.633951, f22_a1 = -1.12909340502, f22_a2 = 0.40671095272, f22_b0 = 1, f22_b1 = -2, f22_b2 = 1; // Constants for pre-filter BiQuad: Highpass 20 Hz #2
annesteenbeek 108:b7beb67a1313 32 const double f23_gain = 0.780779, f23_a1 = -1.39062059536, f23_a2 = 0.73254153630, f23_b0 = 1, f23_b1 = -2, f23_b2 = 1; // Constants for pre-filter BiQuad: Highpass 20 Hz #3
bjornnijhuis 75:9995528bf8b7 33
MartijnGJ 113:7af0ae9a24c0 34 //double f31_v1=0, f31_v2=0, f32_v1=0, f32_v2=0, f33_v1=0, f33_v2=0;
MartijnGJ 113:7af0ae9a24c0 35 //double f31_v1b=0, f31_v2b=0, f32_v1b=0, f32_v2b=0, f33_v1b=0, f33_v2b=0;
MartijnGJ 113:7af0ae9a24c0 36 //const double f31_gain = 0.130049, f31_a1 = -0.57789344562, f31_a2 = 0.09809080329, f31_b0 = 1, f31_b1 = 2, f31_b2 = 1; // Constants for pre-filter BiQuad: Lowpass 30 Hz #1
MartijnGJ 113:7af0ae9a24c0 37 //const double f32_gain = 0.147923, f32_a1 = -0.65731925030, f32_a2 = 0.24901264940, f32_b0 = 1, f32_b1 = 2, f32_b2 = 1; // Constants for pre-filter BiQuad: Lowpass 30 Hz #2
MartijnGJ 113:7af0ae9a24c0 38 //const double f33_gain = 0.194139, f33_a1 = -0.86268420183, f33_a2 = 0.63923919773, f33_b0 = 1, f33_b1 = 2, f33_b2 = 1; // Constants for pre-filter BiQuad: Lowpass 30 Hz #3
bjornnijhuis 75:9995528bf8b7 39
bjornnijhuis 75:9995528bf8b7 40 double a11_v1=0, a11_v2=0, a12_v1=0, a12_v2=0, a13_v1=0, a13_v2=0;
bjornnijhuis 75:9995528bf8b7 41 double a11_v1b=0, a11_v2b=0, a12_v1b=0, a12_v2b=0, a13_v1b=0, a13_v2b=0;
MartijnGJ 113:7af0ae9a24c0 42 const double a11_gain = 0.001275, a11_a1 = -1.861713, a11_a2 = 0.866812, a11_b0 = 1, a11_b1 = 2, a11_b2 = 1; // Constants for averaging BiQuad: Lowpass 4 Hz #1
MartijnGJ 113:7af0ae9a24c0 43 const double a12_gain = 0.001298, a12_a1 = -1.895537, a12_a2 = 0.900729, a12_b0 = 1, a12_b1 = 2, a12_b2 = 1; // Constants for averaging BiQuad: Lowpass 4 Hz #2
MartijnGJ 113:7af0ae9a24c0 44 const double a13_gain = 0.001340, a13_a1 = -1.957123, a13_a2 = 0.962484, a13_b0 = 1, a13_b1 = 2, a13_b2 = 1; // Constants for averaging BiQuad: Lowpass 4 Hz #3