control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: filter_constants.cpp
- Revision:
- 105:663b73bb2f81
- Parent:
- 75:9995528bf8b7
- Child:
- 113:7af0ae9a24c0
--- a/filter_constants.cpp Fri Oct 23 12:17:29 2015 +0000 +++ b/filter_constants.cpp Mon Oct 26 11:25:25 2015 +0000 @@ -27,9 +27,9 @@ double f21_v1=0, f21_v2=0, f22_v1=0, f22_v2=0, f23_v1=0, f23_v2=0; double f21_v1b=0, f21_v2b=0, f22_v1b=0, f22_v2b=0, f23_v1b=0, f23_v2b=0; -const double f21_gain = 0.807131, f21_a1 = -1.58896195896, f21_a2 = 0.63360956141, f21_b0 = 1, f21_b1 = -2, f21_b2 = 1; // Constants for pre-filter BiQuad: Highpass 6 Hz #1 -const double f22_gain = 0.847233, f22_a1 = -1.67098565006, f22_a2 = 0.71793800319, f22_b0 = 1, f22_b1 = -2, f22_b2 = 1; // Constants for pre-filter BiQuad: Highpass 6 Hz #2 -const double f23_gain = 0.928702, f23_a1 = -1.83505834569, f23_a2 = 0.88662091145, f23_b0 = 1, f23_b1 = -2, f23_b2 = 1; // Constants for pre-filter BiQuad: Highpass 6 Hz #3 +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 +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 +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 double f31_v1=0, f31_v2=0, f32_v1=0, f32_v2=0, f33_v1=0, f33_v2=0; double f31_v1b=0, f31_v2b=0, f32_v1b=0, f32_v2b=0, f33_v1b=0, f33_v2b=0;