biorobotics group 19 , 2 november
Dependencies: HIDScope MODSERIAL PID QEI SigInterpreternovember2 biquadFilter mbed
Fork of Robot_controlv2 by
Diff: initialize.h
- Revision:
- 6:a4440eec3652
- Parent:
- 4:bfdcf3da7cff
diff -r 623bab832e6a -r a4440eec3652 initialize.h --- a/initialize.h Fri Oct 28 12:50:44 2016 +0000 +++ b/initialize.h Wed Nov 02 15:39:10 2016 +0000 @@ -8,38 +8,8 @@ #include <time.h> #include "PID.h" - - -const double b0_1 = 0.70711268813; -const double b1_1 = -1.41363497311; -const double b2_1 = 0.70711268813; -const double a1_1 = -1.24805920374; -const double a2_1 = 0.48711380285; - -const double b0_2 = 0.80740871857; -const double b1_2 = -1.61097022054; -const double b2_2 = 0.80740871857; -const double a1_2 = -1.82350353127; -const double a2_2 = 0.9185193031; - -const double b0_3 = 0.21109745634; -const double b1_3 = 0.39721518527; -const double b2_3 = 0.21109745634; -const double a1_3 = -0.92654918100; -const double a2_3 = 0.27581060293; - -const double b0_4 = 0.18082791262; -const double b1_4 = 0.23319763548; -const double b2_4 = 0.18082791262; -const double a1_4 = -0.66923015321; -const double a2_4 = 0.52307551251; - -const double b0_5 = 0.28421571310; -const double b1_5 = 0.25361917977; -const double b2_5 = 0.28421571310; -const double a1_5 = -0.47420826307; -const double a2_5 = 0.8333973552; - +//BiQuad bq1( 2.41362e-08, 4.82724e-08, 2.41362e-08, -1.95400e+00, 9.54619e-01 ); +//BiQuad bq2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98032e+00, 9.80949e-01 ); // occupied pins: A0,A1,A2,A3,D2,D4,D5,D6,D7,D2,D12, D13,D14, D15,