pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 32:955f9f235981
- Parent:
- 31:9333d3f48c88
--- a/main.cpp Fri Oct 28 09:35:32 2016 +0000 +++ b/main.cpp Fri Oct 28 09:47:31 2016 +0000 @@ -47,19 +47,19 @@ //Biquads defined //b1 = biceps right arm -BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); -BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); +BiQuad filterhigh_b1 (9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filternotch1_b1 (0.9912, -3.7706, 5.5685, -3.7706, 0.9912); +BiQuad filternotch2_b1( 1.0000, -3.7874, 5.5684, -3.7539, 0.9824); //t1= triceps right arm BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); -BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); +BiQuad filternotch1_t1 (0.9912, -3.7706, 5.5685, -3.7706, 0.9912);; +BiQuad filternotch2_t1 ( 1.0000, -3.7874, 5.5684, -3.7539, 0.9824); //b2= biceps left arm BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); -BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); +BiQuad filternotch1_b2 (0.9912, -3.7706, 5.5685, -3.7706, 0.9912); +BiQuad filternotch2_b2 ( 1.0000, -3.7874, 5.5684, -3.7539, 0.9824); //after abs filtering BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);