Revision 58:897b67113094, committed 2019-10-15

Comitter:

JornD

Date:

Tue Oct 15 13:07:08 2019 +0000

Branch:

Branch2

Parent:

57:cc8a8097e248

Child:

59:ec28e8a4a233

Commit message:

Implemented Rens' Biquad function;

Changed in this revision

diff -r cc8a8097e248 -r 897b67113094 controller.cpp
--- a/controller.cpp	Tue Oct 15 13:03:12 2019 +0000
+++ b/controller.cpp	Tue Oct 15 13:07:08 2019 +0000
@@ -42,15 +42,24 @@
     //--Build controller, EMG
         float PE[] = {1,2,3};
         float QE[] = {4,5,6};
-        //BuildController(Set_ProcessEMG, PE, QE);
+        BuildController(Set_ProcessEMG, PE, QE);
     //--Build controller, Base
         float PB[] = {1,2,3};
         float QB[] = {4,5,6};
-        //BuildController(Set_Base, PB, QB);
+        BuildController(Set_Base, PB, QB);
     //--Build controller, End Affector
         float PA[] = {1,2,3};
         float QA[] = {4,5,6};
-        //BuildController(Set_EndAffector, PA, QA);
+        BuildController(Set_EndAffector, PA, QA);
         
 }
 
+float Biquad(ControllerSettings& StrucName, MemoryIO& MemName, float X)
+{
+    //Difference equation which implements the digital biquad filter
+    float Y = StrucName.A * X + StrucName.B * MemName.Xm + StrucName.C * MemName.Xmm + StrucName.D * MemName.Ym + StrucName.E * MemName.Ymm;        
+    
+    
+    return Y; 
+}
+

diff -r cc8a8097e248 -r 897b67113094 structures.h
--- a/structures.h	Tue Oct 15 13:03:12 2019 +0000
+++ b/structures.h	Tue Oct 15 13:07:08 2019 +0000
@@ -31,16 +31,16 @@
 //--Memory of Input/Output
     struct MemoryIO
     {
-        float dY;   //output, delayed once
-        float ddY;  //output, delayed twice
-        float dX;   //input, delayed once
-        float ddX;  //input, delayed twice
+        float Ym;   //output, delayed once
+        float Ymm;  //output, delayed twice
+        float Xm;   //input, delayed once
+        float Xmm;  //input, delayed twice
         void ShiftValues(float CurX, float CurY) //Input: Current X, current Y
         {
-            ddY = dY; //Y delayed once to Y delayed twice
-            ddX = dX; //X delayed once to X delayed twice 
-            dY = CurY; //Current Y to Y delayed once
-            dX = CurX; //Current X to X delayed once
+            Ymm = Ym; //Y delayed once to Y delayed twice
+            Xmm = Xm; //X delayed once to X delayed twice 
+            Ym = CurY; //Current Y to Y delayed once
+            Xm = CurX; //Current X to X delayed once
         };
     };