Revision 2:ae55928ff00f, committed 2015-10-06

Comitter:

Bartvaart

Date:

Tue Oct 06 12:19:27 2015 +0000

Parent:

1:98be4152a539

Child:

3:344b173f85fe

Commit message:

Aan het filter is een gain toegevoegd die de uitkomstwaarde met een bepaalde constante vermenigvuldigd

Changed in this revision

--- a/Filter.cpp	Tue Oct 06 12:07:40 2015 +0000
+++ b/Filter.cpp	Tue Oct 06 12:19:27 2015 +0000
@@ -1,6 +1,6 @@
 #include "Filter.h"
 
-double Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2){
+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){
     // volgens direct form 2, uit de embedded filtering and control sheets van T.J.W. Lankhorst
     // u = ingangssignaal (zonder filter)
     // v = tussentap
@@ -11,7 +11,7 @@
     // y = uitgangssignaal (gefilterd)
     
     double v = u - a1 * v1 - a2 * v2;
-    double y = b0 * v + b1 * v1 + b2 * v2;
+    double y = gain * (b0 * v + b1 * v1 + b2 * v2);
     
     v2 = v1; // signalen doorschuiven, zodat bij volgende input, de vorige waardes vsn v worden onthouden
     v1 = v; 

--- a/Filter.h	Tue Oct 06 12:07:40 2015 +0000
+++ b/Filter.h	Tue Oct 06 12:19:27 2015 +0000
@@ -1,3 +1,3 @@
 #include "mbed.h"
 
-double Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2);
\ No newline at end of file
+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);
\ No newline at end of file

--- a/main.cpp	Tue Oct 06 12:07:40 2015 +0000
+++ b/main.cpp	Tue Oct 06 12:19:27 2015 +0000
@@ -17,22 +17,25 @@
 double v1_50a = 0, v2_50a = 0;
 const double a1_50a = -1.61803398875, a2_50a = 1.00000000000;
 const double b0_50a = 1.00000000000, b1_50a = -1.61803398875, b2_50a = 1.00000000000;
+const double gain_50a = 1.000000;
 
 // Filter1b: 50Hz Notch
 double v1_50b = 0, v2_50b = 0;
 const double a1_50b = -1.61803398875, a2_50b = 1.00000000000;
 const double b0_50b = 1.00000000000, b1_50b = -1.61803398875, b2_50b = 1.00000000000;
+const double gain_50b = 1.000000;
 
 // Filter1: 20Hz HighPass
 double v1_HP = 0, v2_HP = 0;
 const double a1_HP = -0.76475499450, a2_HP = 0.27692273367;
 const double b0_HP = 1.00000000000, b1_HP = -2.00000000000, b2_HP = 1.00000000000;
+const double gain_HP = 0.510419;
 
 // Filter1: 5Hz LowPass
 double v1_LP = 0, v2_LP = 0;
 const double a1_LP = -1.16338171052, a2_LP = 0.42191097989;
 const double b0_LP = 1.00000000000, b1_LP = 2.00000000000, b2_LP = 1.00000000000;
-
+const double gain_LP = 0.064632;
 
 void EMGfilter()
 {
@@ -42,20 +45,20 @@
     double u = emg.read(); // lees waarde van emg signaal uit
     
     // Op deze manier worden de waardes ingelezen in Filter. Zorg dus voor dezelfde volgorde, zodat de waardes goed uitgelezen worden!:
-    // Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
+    // 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)
     
     // 50Hz Notch filter
-    double y50a = Filter(u, v1_50a, v2_50a, a1_50a, a2_50a, b0_50a, b1_50a, b2_50a);
-    double y50b = Filter(y50a, v1_50b, v2_50b, a1_50b, a2_50b, b0_50b, b1_50b, b2_50b);
+    double y50a = Filter(u, v1_50a, v2_50a, a1_50a, a2_50a, b0_50a, b1_50a, b2_50a, gain_50a);
+    double y50b = Filter(y50a, v1_50b, v2_50b, a1_50b, a2_50b, b0_50b, b1_50b, b2_50b, gain_50a);
     
     // High Pass filter. Tot 20Hz wordt weggefliterd
-    double yHP = Filter(y50b, v1_HP, v2_HP, a1_HP, a2_HP, b0_HP, b1_HP, b2_HP);
+    double yHP = Filter(y50b, v1_HP, v2_HP, a1_HP, a2_HP, b0_HP, b1_HP, b2_HP, gain_HP);
     
     // Absolute waarde wordt genomen.
     double y1 = fabs(yHP);
     
     // Low Pass filter. Alles vanaf 5Hz wordt weggefilterd 
-    double yLP = Filter(y1, v1_LP, v2_LP, a1_LP, a2_LP, b0_LP, b1_LP, b2_LP);
+    double yLP = Filter(y1, v1_LP, v2_LP, a1_LP, a2_LP, b0_LP, b1_LP, b2_LP, gain_LP);
     
     double y = yLP;