Irnti Nousi / Mbed 2 deprecated Robot_control_v4

Group19-Biorobotics

Dependencies:   HIDScope MODSERIAL PID QEI SigInterpreternovember2 biquadFilter mbed

Fork of Robot_control_v3 by Fabian van Hummel

initialize.h@4:bfdcf3da7cff, 2016-10-28 (annotated)

Committer:
fabian101
Date:
Fri Oct 28 12:49:02 2016 +0000
Revision:
4:bfdcf3da7cff
Parent:
2:6b913f93bc0b
Child:
6:a4440eec3652
28-10, filtering needs tweaking, controller needs testing, some fix-me's need to be done

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabian101 0:d935ea6f5c25 1 #include "mbed.h"
fabian101 0:d935ea6f5c25 2 #include "MODSERIAL.h"
fabian101 2:6b913f93bc0b 3 #include "BiQuad.h"
fabian101 0:d935ea6f5c25 4 #include "math.h"
fabian101 0:d935ea6f5c25 5 #include "HIDScope.h"
fabian101 0:d935ea6f5c25 6 #include "QEI.h"
fabian101 0:d935ea6f5c25 7 #include <string>
fabian101 1:b9005f2aabf5 8 #include <time.h>
fabian101 1:b9005f2aabf5 9 #include "PID.h"
fabian101 0:d935ea6f5c25 10
fabian101 4:bfdcf3da7cff 11
fabian101 4:bfdcf3da7cff 12
fabian101 4:bfdcf3da7cff 13 const double b0_1 = 0.70711268813;
fabian101 4:bfdcf3da7cff 14 const double b1_1 = -1.41363497311;
fabian101 4:bfdcf3da7cff 15 const double b2_1 = 0.70711268813;
fabian101 4:bfdcf3da7cff 16 const double a1_1 = -1.24805920374;
fabian101 4:bfdcf3da7cff 17 const double a2_1 = 0.48711380285;
fabian101 4:bfdcf3da7cff 18
fabian101 4:bfdcf3da7cff 19 const double b0_2 = 0.80740871857;
fabian101 4:bfdcf3da7cff 20 const double b1_2 = -1.61097022054;
fabian101 4:bfdcf3da7cff 21 const double b2_2 = 0.80740871857;
fabian101 4:bfdcf3da7cff 22 const double a1_2 = -1.82350353127;
fabian101 4:bfdcf3da7cff 23 const double a2_2 = 0.9185193031;
fabian101 4:bfdcf3da7cff 24
fabian101 4:bfdcf3da7cff 25 const double b0_3 = 0.21109745634;
fabian101 4:bfdcf3da7cff 26 const double b1_3 = 0.39721518527;
fabian101 4:bfdcf3da7cff 27 const double b2_3 = 0.21109745634;
fabian101 4:bfdcf3da7cff 28 const double a1_3 = -0.92654918100;
fabian101 4:bfdcf3da7cff 29 const double a2_3 = 0.27581060293;
fabian101 4:bfdcf3da7cff 30
fabian101 4:bfdcf3da7cff 31 const double b0_4 = 0.18082791262;
fabian101 4:bfdcf3da7cff 32 const double b1_4 = 0.23319763548;
fabian101 4:bfdcf3da7cff 33 const double b2_4 = 0.18082791262;
fabian101 4:bfdcf3da7cff 34 const double a1_4 = -0.66923015321;
fabian101 4:bfdcf3da7cff 35 const double a2_4 = 0.52307551251;
fabian101 4:bfdcf3da7cff 36
fabian101 4:bfdcf3da7cff 37 const double b0_5 = 0.28421571310;
fabian101 4:bfdcf3da7cff 38 const double b1_5 = 0.25361917977;
fabian101 4:bfdcf3da7cff 39 const double b2_5 = 0.28421571310;
fabian101 4:bfdcf3da7cff 40 const double a1_5 = -0.47420826307;
fabian101 4:bfdcf3da7cff 41 const double a2_5 = 0.8333973552;
fabian101 4:bfdcf3da7cff 42
fabian101 4:bfdcf3da7cff 43
fabian101 0:d935ea6f5c25 44 // occupied pins: A0,A1,A2,A3,D2,D4,D5,D6,D7,D2,D12, D13,D14, D15,
fabian101 0:d935ea6f5c25 45