Menno Sytsma / Actief_stuurprogramma

Dit is het actieve stuurprogramma, behorend bij de bacheloropdracht van Menno Sytsma over de integratie van een Twisted string actuator in een handorthese

Dependencies:   EMG FastPWM HIDScope mbed-src

Files at this revision

API Documentation at this revision

Revision 7:2bbd0147b07b, committed 2016-06-22

Comitter:
s1503189
Date:
Wed Jun 22 07:38:49 2016 +0000
Parent:
6:35d5bab53f44
Commit message:
Gepubliceerde versie;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 35d5bab53f44 -r 2bbd0147b07b main.cpp
--- a/main.cpp	Fri Jun 17 10:21:12 2016 +0000
+++ b/main.cpp	Wed Jun 22 07:38:49 2016 +0000
@@ -41,20 +41,20 @@
 double Plaats_der1;
 
 //LowPass filter 2 Hz
-const double a1_LP =  -1.940778135263835, a2_LP = 0.942482022027066;
+const double a1_LP =  -1.940778135263835, a2_LP = 0.942482022027066; // Biquad 300 Hz. fk = 2
 const double b0_LP = 0.000425971690807714, b1_LP = 0.000851943381615428, b2_LP = 0.000425971690807714;
-const double a1_HP = -1.982228929792529, a2_HP = 0.982385450614125;
+const double a1_HP = -1.982228929792529, a2_HP = 0.982385450614125;  // fk = 0.5;
 const double b0_HP =  0.991153595101663, b1_HP = -1.982307190203327, b2_HP = 0.991153595101663;
 const double a1_LP5 = -1.822694925196308, a2_LP5 = 0.837181651256023 ;    
-const double b0_LP5 =  0.003621681514929 , b1_LP5 =  0.007243363029857, b2_LP5 = 0.003621681514929; 
-const double a1_LP2 =  -1.561018075800718, a2_LP2 = 0.641351538057563;
+const double b0_LP5 =  0.003621681514929 , b1_LP5 =  0.007243363029857, b2_LP5 = 0.003621681514929; //Laagdoorlaatfilter, 100 Hz fK = 2
+const double a1_LP2 =  -1.561018075800718, a2_LP2 = 0.641351538057563;                               // Laagdoorlaatfilter 300 Hz, fK = 15
 const double b0_LP2 = 0.020083365564211, b1_LP2 = 0.040166731128423, b2_LP2 = 0.020083365564211;
 
 
 biquadFilter Filter1(a1_LP, a2_LP, b0_LP, b1_LP, b2_LP);        // Lowpassfilter voor signaal van krachtsensor, 300 Hz, fk = 2
 biquadFilter Filter2(a1_HP, a2_HP, b0_HP, b1_HP, b2_HP);        // Highpassfilter voor signaal van krachtsensor, 300 Hz, fk = 10 
-biquadFilter Filter3(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2);   // Lowpassfilter voor signaal positie-potmeter, 300 Hz
-biquadFilter Filter4(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2);   // Lowpassfilter voor geschaalde signaal positie-potmeter, 300 Hz 
+biquadFilter Filter3(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2);   // Lowpassfilter voor signaal positie-potmeter, 300 Hz fK = 15
+biquadFilter Filter4(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2);   // Lowpassfilter voor geschaalde signaal positie-potmeter, 300 Hz fK = 15
 biquadFilter Filter6(a1_LP5, a2_LP5, b0_LP5, b1_LP5, b2_LP5); // Laagdoorlaatfilter 100 Hz, fk is 2 Hz