Ruprecht Altenburger / Mbed 2 deprecated RT2_P3_students_G4

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Dependencies:   mbed

Fork of RT2_P3_students by RT2_P3_students

Diff: IIR_filter.cpp

Revision:
8:72f260c467ad
Parent:
7:01a7363583b2
diff -r 01a7363583b2 -r 72f260c467ad IIR_filter.cpp
--- a/IIR_filter.cpp	Sun Apr 22 19:54:59 2018 +0000
+++ b/IIR_filter.cpp	Tue Apr 24 09:13:59 2018 +0000
@@ -22,10 +22,10 @@
     // filter coefficients
     B = (double*)malloc((nb+1)*sizeof(double));
     A = (double*)malloc(na*sizeof(double));    
-    B[0] = 2.0/(2.0*(double)T + (double)Ts);
-    B[1] = -B[0];
-    A[0] = -(2.0*(double)T - (double)Ts)/(2.0*(double)T + (double)Ts);
-    
+    B[0] = (double)Ts/((double)Ts + 2.0*(double)T);
+    B[1] = B[0];
+    A[0] = ((double)Ts - 2.0*(double)T)/((double)Ts + 2.0*(double)T); 
+     
     // signal arrays
     uk = (double*)malloc((nb+1)*sizeof(double));
     yk = (double*)malloc(na*sizeof(double));
@@ -33,7 +33,7 @@
     yk[0] = 0.0;
     
     // dc-gain
-    this->K = 0.0;
+    this->K = 1.0;
 }
 
 // G(s) = K/(T*s + 1)
@@ -46,7 +46,7 @@
     // filter coefficients
     B = (double*)malloc((nb+1)*sizeof(double));
     A = (double*)malloc(na*sizeof(double));      
-    B[0] = (double)Ts/((double)Ts + 2.0*(double)T);
+    B[0] = (double)K * (double)Ts/((double)Ts + 2.0*(double)T);
     B[1] = B[0];
     A[0] = ((double)Ts - 2.0*(double)T)/((double)Ts + 2.0*(double)T);