Richard Roos / Mbed 2 deprecated TotalControlEmg2

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Dependencies:   HIDScope MODSERIAL QEI TextLCD mbed

Diff: Filter.cpp

Revision:
2:ae55928ff00f
Parent:
1:98be4152a539
Child:
3:344b173f85fe
--- 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;