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Dependencies:   HIDScope MODSERIAL QEI TextLCD mbed

Fork of TotalControlEmg2 by Remco Dasselaar

Filter.cpp@50:16314b798754, 2015-10-28 (annotated)

Committer:
RemcoDas
Date:
Wed Oct 28 09:28:48 2015 +0000
Revision:
50:16314b798754
Parent:
3:344b173f85fe 
Final, schoongeveegd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bartvaart 0:557b1ff83a8a 1 #include "Filter.h"
RemcoDas 50:16314b798754 2 // According to Direct form 2, see sheets of T.J.W. Lankhorst
RemcoDas 50:16314b798754 3 // u = input (without filter)
RemcoDas 50:16314b798754 4 // v = memory (by reference
RemcoDas 50:16314b798754 5 // a1 and a2 variabel from ASN filter, a0 =1
RemcoDas 50:16314b798754 6 // b0, b1, b2 variabel from ASN filter
RemcoDas 50:16314b798754 7 double Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2, const double gain){
Bartvaart 0:557b1ff83a8a 8 double v = u - a1 * v1 - a2 * v2;
RemcoDas 50:16314b798754 9 double y = gain * (b0 * v + b1 * v1 + b2 * v2);
RemcoDas 50:16314b798754 10 v2 = v1; // shift memory
RemcoDas 50:16314b798754 11 v1 = v;
RemcoDas 50:16314b798754 12 return y; // filtered output
Bartvaart 0:557b1ff83a8a 13 }