The final program for the #include AIR robot
Dependencies: Biquad HIDScope QEI angleandposition controlandadjust mbed
Fork of includeair by
filtervalues.h
- Committer:
- Gerth
- Date:
- 2015-10-12
- Revision:
- 1:917c07a4f3ec
- Child:
- 39:ebcf0a60f58b
File content as of revision 1:917c07a4f3ec:
//////////////////////////////////////////////CONSTANTS ///////////////////Biquad #1 const double gain_f1 = 9.6508098634474382e-01; const double A_f1[] = { 1.0000000000000000e+00 , -1.5685816307006708e+00 , 9.6424138386900704e-01}; const double B_f1[] = { 9.6508098634474382e-01 ,-1.5620271748674457e+00 , 9.6508103356874642e-01}; ///////////////////Biquad #2 const double gain_f2 = 1.0000000000000000e+00; const double A_f2[] = { 1.0000000000000000e+00 , -1.6110035772715345e+00 , 9.6592170561041857e-01}; const double B_f2[] = { 1.0000000000000000e+00 ,-1.6185451093340690e+00 , 9.9999995106731920e-01}; ///////////////////Biquad #3 const double gain_f3 = 9.6508098634473305e-01; const double A_f3[] = {1.0000000000000000e+00, -5.7396521780998500e-01 , 9.6488297638274156e-01}; const double B_f3[] = { 9.6508098634473305e-01 ,-5.9664124427116272e-01 , 9.6508097692557404e-01}; ///////////////////Biquad #4 const double gain_f4 = 1.0000000000000000e+00; const double A_f4[] = { 1.0000000000000000e+00 ,-6.4052826150899422e-01 , 9.6527942240059728e-01}; const double B_f4[] = {1.0000000000000000e+00, -6.1822926625254149e-01 , 1.0000000097599706e+00}; ///////////////////Biquad #5 const double gain_f5 = 6.9977431651797473e-01; const double A_f5[] = { 1.0000000000000000e+00 ,-1.3072850288493236e+00 , 4.9181223722257517e-01}; const double B_f5[] = { 6.9977431651797473e-01, -1.3995486330359495e+00 , 6.9977431651797473e-01}; ///////////////////Biquad #6 const double gain_f6 = 2.4136223124304745e-08; const double A_f6[] = {1.0000000000000000e+00 ,-1.9540019616345168e+00 , 9.5461925134316061e-01}; const double B_f6[] = { 2.4136223124304745e-08 , 4.8272447728835386e-08 , 2.4136223466598214e-08}; ///////////////////Biquad #7 const double gain_f7 = 1.0000000000000000e+00; const double A_f7[] = { 1.0000000000000000e+00 , -1.9803238591642129e+00 , 9.8094946423345442e-01}; const double B_f7[] = { 1.0000000000000000e+00 , 1.9999999386720257e+00 , 9.9999998581827421e-01}; ////////////////////////////////////////////ARRAYS TO VARIABLES /////////////////Biquad #1 const double a1_f1 = gain_f1*A_f1[1], a2_f1 = gain_f1*A_f1[2], b0_f1 = gain_f1*B_f1[0], b1_f1 = gain_f1*B_f1[1], b2_f1 = gain_f1*B_f1[2]; //filter coefficients filter 1 double v1_f1_emg1=0 , v2_f1_emg1=0 , v1_f1_emg2=0 , v2_f1_emg2=0;//storage variables filter 1 /////////////////Biquad #2 const double a1_f2 = gain_f2*A_f2[1], a2_f2 = gain_f2*A_f2[2], b0_f2 = gain_f2*B_f2[0], b1_f2 = gain_f2*B_f2[1], b2_f2 = gain_f2*B_f2[2]; //filter coefficients filter 2 double v1_f2_emg1=0 , v2_f2_emg1=0 , v1_f2_emg2=0 , v2_f2_emg2=0;//storage variables filter 2 /////////////////Biquad #3 const double a1_f3 = gain_f3*A_f3[1], a2_f3 = gain_f3*A_f3[2], b0_f3 = gain_f3*B_f3[0], b1_f3 = gain_f3*B_f3[1], b2_f3 = gain_f3*B_f3[2]; //filter coefficients filter 3 double v1_f3_emg1=0 , v2_f3_emg1=0 , v1_f3_emg2=0 , v2_f3_emg2=0;//storage variables filter 3 /////////////////Biquad #4 const double a1_f4 = gain_f4*A_f4[1], a2_f4 = gain_f4*A_f4[2], b0_f4 = gain_f4*B_f4[0], b1_f4 = gain_f4*B_f4[1], b2_f4 = gain_f4*B_f4[2]; //filter coefficients filter 4 double v1_f4_emg1=0 , v2_f4_emg1=0 , v1_f4_emg2=0 , v2_f4_emg2=0;//storage variables filter 4 /////////////////Biquad #5 const double a1_f5 = gain_f5*A_f5[1], a2_f5 = gain_f5*A_f5[2], b0_f5 = gain_f5*B_f5[0], b1_f5 = gain_f5*B_f5[1], b2_f5 = gain_f5*B_f5[2]; //filter coefficients filter 5 double v1_f5_emg1=0 , v2_f5_emg1=0 , v1_f5_emg2=0 , v2_f5_emg2=0;//storage variables filter 5 /////////////////Biquad #6 const double a1_f6 = gain_f6*A_f6[1], a2_f6 = gain_f6*A_f6[2], b0_f6 = gain_f6*B_f6[0], b1_f6 = gain_f6*B_f6[1], b2_f6 = gain_f6*B_f6[2]; //filter coefficients filter 6 double v1_f6_emg1=0 , v2_f6_emg1=0 , v1_f6_emg2=0 , v2_f6_emg2=0;//storage variables filter 6 /////////////////Biquad #7 const double a1_f7 = gain_f7*A_f7[1], a2_f7 = gain_f7*A_f7[2], b0_f7 = gain_f7*B_f7[0], b1_f7 = gain_f7*B_f7[1], b2_f7 = gain_f7*B_f7[2]; //filter coefficients filter 7 double v1_f7_emg1=0 , v2_f7_emg1=0 , v1_f7_emg2=0 , v2_f7_emg2=0;//storage variables filter 7 /////////////MEAN VALUE