Group19-Biorobotics
Dependencies: HIDScope MODSERIAL PID QEI SigInterpreternovember2 biquadFilter mbed
Fork of Robot_control_v3 by
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?
User | Revision | Line number | New 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 |