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Lab7 code.cpp

@@ -40,7 +40,7 @@
40 40 #define ADC_ENABLE 1
41 41
42 42
43 - #define SINE_FREQ 5.0 // Hz
43 + #define SINE_FREQ 20.0 // Hz
44 44 #define SINE_MAG 250 // counts
45 45
46 46 /* Coeficients for your second-order filter from matlab (Butter() or other IIR filter... */
@@ -61,13 +61,13 @@ int main()
61 61 double Frequency = 0;
62 62
63 63
64 - double Ti = 0;
64 + double Ti = 0.0775;
65 65 double Td = 0;
66 - double Kp = 0.008; // Proportional gain
67 - double Ki = 0;//Kp/Ti; // Integral gain
68 - double Kd = 0;//Kp*Td; // Derivative gain
66 + double Kp = 0.0036; // Proportional gain
67 + double Ki = Kp/Ti; // Integral gain
68 + double Kd = 0;// Kp* Td; // Derivative gain
69 69 int current_position = 0; // Actual position from encoder
70 - double ref_position = 0; // Desired position
70 + double ref_position = 500; // Desired position
71 71 int error = 0; // Control error
72 72 double error_derivative = 0; // Derivative of error
73 73 double integrated_error = 0; // Integral of error
@@ -120,7 +120,7 @@ int main()
120 120 t = (double)ncount / SAMPLE_RATE;
121 121
122 122 // Generate sine wave signal
123 - ref_position = SINE_MAG * sin(2.0 * M_PI * SINE_FREQ * t);
123 + // ref_position = SINE_MAG * sin(2.0 * M_PI * SINE_FREQ * t);
124 124
125 125 // scale the desired voltage to the DAC integer output.
126 126 dacout = (uint)(voltageout * (DAC_CNT_RANGE / DAC_VRANGE) + DAC_OFFSET_COUNTS);

PI.txt

@@ -1,2001 +1,2001 @@
1 - Counts,Reference:
2 - 0,500
3 - 0,500
4 - 0,500
5 - 0,500
6 - 2,500
7 - 4,500
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1037 - 500,500
1038 - 500,500
1039 - 500,500
1040 - 500,500
1041 - 500,500
1042 - 500,500
1043 - 500,500
1044 - 500,500
1045 - 500,500
1046 - 500,500
1047 - 500,500
1048 - 500,500
1049 - 500,500
1050 - 500,500
1051 - 500,500
1052 - 500,500
1053 - 500,500
1054 - 500,500
1055 - 500,500
1056 - 500,500
1057 - 500,500
1058 - 500,500
1059 - 500,500
1060 - 500,500
1061 - 500,500
1062 - 500,500
1063 - 500,500
1064 - 500,500
1065 - 500,500
1066 - 500,500
1067 - 500,500
1068 - 500,500
1069 - 500,500
1070 - 500,500
1071 - 500,500
1072 - 500,500
1073 - 500,500
1074 - 500,500
1075 - 500,500
1076 - 500,500
1077 - 500,500
1078 - 500,500
1079 - 500,500
1080 - 500,500
1081 - 500,500
1082 - 500,500
1083 - 500,500
1084 - 500,500
1085 - 500,500
1086 - 500,500
1087 - 500,500
1088 - 500,500
1089 - 500,500
1090 - 500,500
1091 - 500,500
1092 - 500,500
1093 - 500,500
1094 - 500,500
1095 - 500,500
1096 - 500,500
1097 - 500,500
1098 - 500,500
1099 - 500,500
1100 - 500,500
1101 - 500,500
1102 - 500,500
1103 - 500,500
1104 - 500,500
1105 - 500,500
1106 - 500,500
1107 - 500,500
1108 - 500,500
1109 - 500,500
1110 - 500,500
1111 - 500,500
1112 - 500,500
1113 - 500,500
1114 - 500,500
1115 - 500,500
1116 - 500,500
1117 - 500,500
1118 - 500,500
1119 - 500,500
1120 - 500,500
1121 - 500,500
1122 - 500,500
1123 - 500,500
1124 - 500,500
1125 - 500,500
1126 - 500,500
1127 - 500,500
1128 - 500,500
1129 - 500,500
1130 - 500,500
1131 - 500,500
1132 - 500,500
1133 - 500,500
1134 - 500,500
1135 - 500,500
1136 - 500,500
1137 - 500,500
1138 - 500,500
1139 - 500,500
1140 - 500,500
1141 - 500,500
1142 - 500,500
1143 - 500,500
1144 - 500,500
1145 - 500,500
1146 - 500,500
1147 - 500,500
1148 - 500,500
1149 - 500,500
1150 - 500,500
1151 - 500,500
1152 - 500,500
1153 - 500,500
1154 - 500,500
1155 - 500,500
1156 - 500,500
1157 - 500,500
1158 - 500,500
1159 - 500,500
1160 - 500,500
1161 - 500,500
1162 - 500,500
1163 - 500,500
1164 - 500,500
1165 - 500,500
1166 - 500,500
1167 - 500,500
1168 - 500,500
1169 - 500,500
1170 - 500,500
1171 - 500,500
1172 - 500,500
1173 - 500,500
1174 - 500,500
1175 - 500,500
1176 - 500,500
1177 - 500,500
1178 - 500,500
1179 - 500,500
1180 - 500,500
1181 - 500,500
1182 - 500,500
1183 - 500,500
1184 - 500,500
1185 - 500,500
1186 - 500,500
1187 - 500,500
1188 - 500,500
1189 - 500,500
1190 - 500,500
1191 - 500,500
1192 - 500,500
1193 - 500,500
1194 - 500,500
1195 - 500,500
1196 - 500,500
1197 - 500,500
1198 - 500,500
1199 - 500,500
1200 - 500,500
1201 - 500,500
1202 - 500,500
1203 - 500,500
1204 - 500,500
1205 - 500,500
1206 - 500,500
1207 - 500,500
1208 - 500,500
1209 - 500,500
1210 - 500,500
1211 - 500,500
1212 - 500,500
1213 - 500,500
1214 - 500,500
1215 - 500,500
1216 - 500,500
1217 - 500,500
1218 - 500,500
1219 - 500,500
1220 - 500,500
1221 - 500,500
1222 - 500,500
1223 - 500,500
1224 - 500,500
1225 - 500,500
1226 - 500,500
1227 - 500,500
1228 - 500,500
1229 - 500,500
1230 - 500,500
1231 - 500,500
1232 - 500,500
1233 - 500,500
1234 - 500,500
1235 - 500,500
1236 - 500,500
1237 - 500,500
1238 - 500,500
1239 - 500,500
1240 - 500,500
1241 - 500,500
1242 - 500,500
1243 - 500,500
1244 - 500,500
1245 - 500,500
1246 - 500,500
1247 - 500,500
1248 - 500,500
1249 - 500,500
1250 - 500,500
1251 - 500,500
1252 - 500,500
1253 - 500,500
1254 - 500,500
1255 - 500,500
1256 - 500,500
1257 - 500,500
1258 - 500,500
1259 - 500,500
1260 - 500,500
1261 - 500,500
1262 - 500,500
1263 - 500,500
1264 - 500,500
1265 - 500,500
1266 - 500,500
1267 - 500,500
1268 - 500,500
1269 - 500,500
1270 - 500,500
1271 - 500,500
1272 - 500,500
1273 - 500,500
1274 - 500,500
1275 - 500,500
1276 - 500,500
1277 - 500,500
1278 - 500,500
1279 - 500,500
1280 - 500,500
1281 - 500,500
1282 - 500,500
1283 - 500,500
1284 - 500,500
1285 - 500,500
1286 - 500,500
1287 - 500,500
1288 - 500,500
1289 - 500,500
1290 - 500,500
1291 - 500,500
1292 - 500,500
1293 - 500,500
1294 - 500,500
1295 - 500,500
1296 - 500,500
1297 - 500,500
1298 - 500,500
1299 - 500,500
1300 - 500,500
1301 - 500,500
1302 - 500,500
1303 - 500,500
1304 - 500,500
1305 - 500,500
1306 - 500,500
1307 - 500,500
1308 - 500,500
1309 - 500,500
1310 - 500,500
1311 - 500,500
1312 - 500,500
1313 - 500,500
1314 - 500,500
1315 - 500,500
1316 - 500,500
1317 - 500,500
1318 - 500,500
1319 - 500,500
1320 - 500,500
1321 - 500,500
1322 - 500,500
1323 - 500,500
1324 - 500,500
1325 - 500,500
1326 - 500,500
1327 - 500,500
1328 - 500,500
1329 - 500,500
1330 - 500,500
1331 - 500,500
1332 - 500,500
1333 - 500,500
1334 - 500,500
1335 - 500,500
1336 - 500,500
1337 - 500,500
1338 - 500,500
1339 - 500,500
1340 - 500,500
1341 - 500,500
1342 - 500,500
1343 - 500,500
1344 - 500,500
1345 - 500,500
1346 - 500,500
1347 - 500,500
1348 - 500,500
1349 - 500,500
1350 - 500,500
1351 - 500,500
1352 - 500,500
1353 - 500,500
1354 - 500,500
1355 - 500,500
1356 - 500,500
1357 - 500,500
1358 - 500,500
1359 - 500,500
1360 - 500,500
1361 - 500,500
1362 - 500,500
1363 - 500,500
1364 - 500,500
1365 - 500,500
1366 - 500,500
1367 - 500,500
1368 - 500,500
1369 - 500,500
1370 - 500,500
1371 - 500,500
1372 - 500,500
1373 - 500,500
1374 - 500,500
1375 - 500,500
1376 - 500,500
1377 - 500,500
1378 - 500,500
1379 - 500,500
1380 - 500,500
1381 - 500,500
1382 - 500,500
1383 - 500,500
1384 - 500,500
1385 - 500,500
1386 - 500,500
1387 - 500,500
1388 - 500,500
1389 - 500,500
1390 - 500,500
1391 - 500,500
1392 - 500,500
1393 - 500,500
1394 - 500,500
1395 - 500,500
1396 - 500,500
1397 - 500,500
1398 - 500,500
1399 - 500,500
1400 - 500,500
1401 - 500,500
1402 - 500,500
1403 - 500,500
1404 - 500,500
1405 - 500,500
1406 - 500,500
1407 - 500,500
1408 - 500,500
1409 - 500,500
1410 - 500,500
1411 - 500,500
1412 - 500,500
1413 - 500,500
1414 - 500,500
1415 - 500,500
1416 - 500,500
1417 - 500,500
1418 - 500,500
1419 - 500,500
1420 - 500,500
1421 - 500,500
1422 - 500,500
1423 - 500,500
1424 - 500,500
1425 - 500,500
1426 - 500,500
1427 - 500,500
1428 - 500,500
1429 - 500,500
1430 - 500,500
1431 - 500,500
1432 - 500,500
1433 - 500,500
1434 - 500,500
1435 - 500,500
1436 - 500,500
1437 - 500,500
1438 - 500,500
1439 - 500,500
1440 - 500,500
1441 - 500,500
1442 - 500,500
1443 - 500,500
1444 - 500,500
1445 - 500,500
1446 - 500,500
1447 - 500,500
1448 - 500,500
1449 - 500,500
1450 - 500,500
1451 - 500,500
1452 - 500,500
1453 - 500,500
1454 - 500,500
1455 - 500,500
1456 - 500,500
1457 - 500,500
1458 - 500,500
1459 - 500,500
1460 - 500,500
1461 - 500,500
1462 - 500,500
1463 - 500,500
1464 - 500,500
1465 - 500,500
1466 - 500,500
1467 - 500,500
1468 - 500,500
1469 - 500,500
1470 - 500,500
1471 - 500,500
1472 - 500,500
1473 - 500,500
1474 - 500,500
1475 - 500,500
1476 - 500,500
1477 - 500,500
1478 - 500,500
1479 - 500,500
1480 - 500,500
1481 - 500,500
1482 - 500,500
1483 - 500,500
1484 - 500,500
1485 - 500,500
1486 - 500,500
1487 - 500,500
1488 - 500,500
1489 - 500,500
1490 - 500,500
1491 - 500,500
1492 - 500,500
1493 - 500,500
1494 - 500,500
1495 - 500,500
1496 - 500,500
1497 - 500,500
1498 - 500,500
1499 - 500,500
1500 - 500,500
1501 - 500,500
1502 - 500,500
1503 - 500,500
1504 - 500,500
1505 - 500,500
1506 - 500,500
1507 - 500,500
1508 - 500,500
1509 - 500,500
1510 - 500,500
1511 - 500,500
1512 - 500,500
1513 - 500,500
1514 - 500,500
1515 - 500,500
1516 - 500,500
1517 - 500,500
1518 - 500,500
1519 - 500,500
1520 - 500,500
1521 - 500,500
1522 - 500,500
1523 - 500,500
1524 - 500,500
1525 - 500,500
1526 - 500,500
1527 - 500,500
1528 - 500,500
1529 - 500,500
1530 - 500,500
1531 - 500,500
1532 - 500,500
1533 - 500,500
1534 - 500,500
1535 - 500,500
1536 - 500,500
1537 - 500,500
1538 - 500,500
1539 - 500,500
1540 - 500,500
1541 - 500,500
1542 - 500,500
1543 - 500,500
1544 - 500,500
1545 - 500,500
1546 - 500,500
1547 - 500,500
1548 - 500,500
1549 - 500,500
1550 - 500,500
1551 - 500,500
1552 - 500,500
1553 - 500,500
1554 - 500,500
1555 - 500,500
1556 - 500,500
1557 - 500,500
1558 - 500,500
1559 - 500,500
1560 - 500,500
1561 - 500,500
1562 - 500,500
1563 - 500,500
1564 - 500,500
1565 - 500,500
1566 - 500,500
1567 - 500,500
1568 - 500,500
1569 - 500,500
1570 - 500,500
1571 - 500,500
1572 - 500,500
1573 - 500,500
1574 - 500,500
1575 - 500,500
1576 - 500,500
1577 - 500,500
1578 - 500,500
1579 - 500,500
1580 - 500,500
1581 - 500,500
1582 - 500,500
1583 - 500,500
1584 - 500,500
1585 - 500,500
1586 - 500,500
1587 - 500,500
1588 - 500,500
1589 - 500,500
1590 - 500,500
1591 - 500,500
1592 - 500,500
1593 - 500,500
1594 - 500,500
1595 - 500,500
1596 - 500,500
1597 - 500,500
1598 - 500,500
1599 - 500,500
1600 - 500,500
1601 - 500,500
1602 - 500,500
1603 - 500,500
1604 - 500,500
1605 - 500,500
1606 - 500,500
1607 - 500,500
1608 - 500,500
1609 - 500,500
1610 - 500,500
1611 - 500,500
1612 - 500,500
1613 - 500,500
1614 - 500,500
1615 - 500,500
1616 - 500,500
1617 - 500,500
1618 - 500,500
1619 - 500,500
1620 - 500,500
1621 - 500,500
1622 - 500,500
1623 - 500,500
1624 - 500,500
1625 - 500,500
1626 - 500,500
1627 - 500,500
1628 - 500,500
1629 - 500,500
1630 - 500,500
1631 - 500,500
1632 - 500,500
1633 - 500,500
1634 - 500,500
1635 - 500,500
1636 - 500,500
1637 - 500,500
1638 - 500,500
1639 - 500,500
1640 - 500,500
1641 - 500,500
1642 - 500,500
1643 - 500,500
1644 - 500,500
1645 - 500,500
1646 - 500,500
1647 - 500,500
1648 - 500,500
1649 - 500,500
1650 - 500,500
1651 - 500,500
1652 - 500,500
1653 - 500,500
1654 - 500,500
1655 - 500,500
1656 - 500,500
1657 - 500,500
1658 - 500,500
1659 - 500,500
1660 - 500,500
1661 - 500,500
1662 - 500,500
1663 - 500,500
1664 - 500,500
1665 - 500,500
1666 - 500,500
1667 - 500,500
1668 - 500,500
1669 - 500,500
1670 - 500,500
1671 - 500,500
1672 - 500,500
1673 - 500,500
1674 - 500,500
1675 - 500,500
1676 - 500,500
1677 - 500,500
1678 - 500,500
1679 - 500,500
1680 - 500,500
1681 - 500,500
1682 - 500,500
1683 - 500,500
1684 - 500,500
1685 - 500,500
1686 - 500,500
1687 - 500,500
1688 - 500,500
1689 - 500,500
1690 - 500,500
1691 - 500,500
1692 - 500,500
1693 - 500,500
1694 - 500,500
1695 - 500,500
1696 - 500,500
1697 - 500,500
1698 - 500,500
1699 - 500,500
1700 - 500,500
1701 - 500,500
1702 - 500,500
1703 - 500,500
1704 - 500,500
1705 - 500,500
1706 - 500,500
1707 - 500,500
1708 - 500,500
1709 - 500,500
1710 - 500,500
1711 - 500,500
1712 - 500,500
1713 - 500,500
1714 - 500,500
1715 - 500,500
1716 - 500,500
1717 - 500,500
1718 - 500,500
1719 - 500,500
1720 - 500,500
1721 - 500,500
1722 - 500,500
1723 - 500,500
1724 - 500,500
1725 - 500,500
1726 - 500,500
1727 - 500,500
1728 - 500,500
1729 - 500,500
1730 - 500,500
1731 - 500,500
1732 - 500,500
1733 - 500,500
1734 - 500,500
1735 - 500,500
1736 - 500,500
1737 - 500,500
1738 - 500,500
1739 - 500,500
1740 - 500,500
1741 - 500,500
1742 - 500,500
1743 - 500,500
1744 - 500,500
1745 - 500,500
1746 - 500,500
1747 - 500,500
1748 - 500,500
1749 - 500,500
1750 - 500,500
1751 - 500,500
1752 - 500,500
1753 - 500,500
1754 - 500,500
1755 - 500,500
1756 - 500,500
1757 - 500,500
1758 - 500,500
1759 - 500,500
1760 - 500,500
1761 - 500,500
1762 - 500,500
1763 - 500,500
1764 - 500,500
1765 - 500,500
1766 - 500,500
1767 - 500,500
1768 - 500,500
1769 - 500,500
1770 - 500,500
1771 - 500,500
1772 - 500,500
1773 - 500,500
1774 - 500,500
1775 - 500,500
1776 - 500,500
1777 - 500,500
1778 - 500,500
1779 - 500,500
1780 - 500,500
1781 - 500,500
1782 - 500,500
1783 - 500,500
1784 - 500,500
1785 - 500,500
1786 - 500,500
1787 - 500,500
1788 - 500,500
1789 - 500,500
1790 - 500,500
1791 - 500,500
1792 - 500,500
1793 - 500,500
1794 - 500,500
1795 - 500,500
1796 - 500,500
1797 - 500,500
1798 - 500,500
1799 - 500,500
1800 - 500,500
1801 - 500,500
1802 - 500,500
1803 - 500,500
1804 - 500,500
1805 - 500,500
1806 - 500,500
1807 - 500,500
1808 - 500,500
1809 - 500,500
1810 - 500,500
1811 - 500,500
1812 - 500,500
1813 - 500,500
1814 - 500,500
1815 - 500,500
1816 - 500,500
1817 - 500,500
1818 - 500,500
1819 - 500,500
1820 - 500,500
1821 - 500,500
1822 - 500,500
1823 - 500,500
1824 - 500,500
1825 - 500,500
1826 - 500,500
1827 - 500,500
1828 - 500,500
1829 - 500,500
1830 - 500,500
1831 - 500,500
1832 - 500,500
1833 - 500,500
1834 - 500,500
1835 - 500,500
1836 - 500,500
1837 - 500,500
1838 - 500,500
1839 - 500,500
1840 - 500,500
1841 - 500,500
1842 - 500,500
1843 - 500,500
1844 - 500,500
1845 - 500,500
1846 - 500,500
1847 - 500,500
1848 - 500,500
1849 - 500,500
1850 - 500,500
1851 - 500,500
1852 - 500,500
1853 - 500,500
1854 - 500,500
1855 - 500,500
1856 - 500,500
1857 - 500,500
1858 - 500,500
1859 - 500,500
1860 - 500,500
1861 - 500,500
1862 - 500,500
1863 - 500,500
1864 - 500,500
1865 - 500,500
1866 - 500,500
1867 - 500,500
1868 - 500,500
1869 - 500,500
1870 - 500,500
1871 - 500,500
1872 - 500,500
1873 - 500,500
1874 - 500,500
1875 - 500,500
1876 - 500,500
1877 - 500,500
1878 - 500,500
1879 - 500,500
1880 - 500,500
1881 - 500,500
1882 - 500,500
1883 - 500,500
1884 - 500,500
1885 - 500,500
1886 - 500,500
1887 - 500,500
1888 - 500,500
1889 - 500,500
1890 - 500,500
1891 - 500,500
1892 - 500,500
1893 - 500,500
1894 - 500,500
1895 - 500,500
1896 - 500,500
1897 - 500,500
1898 - 500,500
1899 - 500,500
1900 - 500,500
1901 - 500,500
1902 - 500,500
1903 - 500,500
1904 - 500,500
1905 - 500,500
1906 - 500,500
1907 - 500,500
1908 - 500,500
1909 - 500,500
1910 - 500,500
1911 - 500,500
1912 - 500,500
1913 - 500,500
1914 - 500,500
1915 - 500,500
1916 - 500,500
1917 - 500,500
1918 - 500,500
1919 - 500,500
1920 - 500,500
1921 - 500,500
1922 - 500,500
1923 - 500,500
1924 - 500,500
1925 - 500,500
1926 - 500,500
1927 - 500,500
1928 - 500,500
1929 - 500,500
1930 - 500,500
1931 - 500,500
1932 - 500,500
1933 - 500,500
1934 - 500,500
1935 - 500,500
1936 - 500,500
1937 - 500,500
1938 - 500,500
1939 - 500,500
1940 - 500,500
1941 - 500,500
1942 - 500,500
1943 - 500,500
1944 - 500,500
1945 - 500,500
1946 - 500,500
1947 - 500,500
1948 - 500,500
1949 - 500,500
1950 - 500,500
1951 - 500,500
1952 - 500,500
1953 - 500,500
1954 - 500,500
1955 - 500,500
1956 - 500,500
1957 - 500,500
1958 - 500,500
1959 - 500,500
1960 - 500,500
1961 - 500,500
1962 - 500,500
1963 - 500,500
1964 - 500,500
1965 - 500,500
1966 - 500,500
1967 - 500,500
1968 - 500,500
1969 - 500,500
1970 - 500,500
1971 - 500,500
1972 - 500,500
1973 - 500,500
1974 - 500,500
1975 - 500,500
1976 - 500,500
1977 - 500,500
1978 - 500,500
1979 - 500,500
1980 - 500,500
1981 - 500,500
1982 - 500,500
1983 - 500,500
1984 - 500,500
1985 - 500,500
1986 - 500,500
1987 - 500,500
1988 - 500,500
1989 - 500,500
1990 - 500,500
1991 - 500,500
1992 - 500,500
1993 - 500,500
1994 - 500,500
1995 - 500,500
1996 - 500,500
1997 - 500,500
1998 - 500,500
1999 - 500,500
2000 - 500,500
2001 - 500,500
1 + Counts,Reference:
2 + 0,500
3 + 0,500
4 + 0,500
5 + 0,500
6 + 2,500
7 + 4,500
8 + 7,500
9 + 11,500
10 + 16,500
11 + 23,500
12 + 30,500
13 + 38,500
14 + 48,500
15 + 59,500
16 + 70,500
17 + 83,500
18 + 97,500
19 + 112,500
20 + 128,500
21 + 145,500
22 + 162,500
23 + 181,500
24 + 200,500
25 + 221,500
26 + 241,500
27 + 263,500
28 + 285,500
29 + 307,500
30 + 330,500
31 + 353,500
32 + 376,500
33 + 400,500
34 + 423,500
35 + 446,500
36 + 470,500
37 + 493,500
38 + 516,500
39 + 538,500
40 + 560,500
41 + 582,500
42 + 603,500
43 + 624,500
44 + 643,500
45 + 662,500
46 + 680,500
47 + 698,500
48 + 714,500
49 + 729,500
50 + 744,500
51 + 757,500
52 + 769,500
53 + 781,500
54 + 791,500
55 + 799,500
56 + 807,500
57 + 814,500
58 + 819,500
59 + 823,500
60 + 826,500
61 + 828,500
62 + 829,500
63 + 828,500
64 + 826,500
65 + 824,500
66 + 820,500
67 + 816,500
68 + 810,500
69 + 804,500
70 + 796,500
71 + 788,500
72 + 780,500
73 + 770,500
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1999 + 500,500
2000 + 500,500
2001 + 500,500

PID.txt

@@ -1,2001 +1,2001 @@
1 - Counts,Reference:
2 - 0,500
3 - 0,500
4 - 0,500
5 - 2,500
6 - 5,500
7 - 9,500
8 - 16,500
9 - 24,500
10 - 33,500
11 - 44,500
12 - 57,500
13 - 71,500
14 - 87,500
15 - 104,500
16 - 122,500
17 - 141,500
18 - 162,500
19 - 183,500
20 - 205,500
21 - 227,500
22 - 251,500
23 - 274,500
24 - 298,500
25 - 322,500
26 - 346,500
27 - 370,500
28 - 393,500
29 - 417,500
30 - 440,500
31 - 462,500
32 - 484,500
33 - 505,500
34 - 525,500
35 - 544,500
36 - 562,500
37 - 580,500
38 - 596,500
39 - 611,500
40 - 625,500
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42 - 650,500
43 - 661,500
44 - 671,500
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1355 - 500,500
1356 - 500,500
1357 - 500,500
1358 - 500,500
1359 - 500,500
1360 - 500,500
1361 - 500,500
1362 - 500,500
1363 - 500,500
1364 - 500,500
1365 - 500,500
1366 - 500,500
1367 - 500,500
1368 - 500,500
1369 - 500,500
1370 - 500,500
1371 - 500,500
1372 - 500,500
1373 - 500,500
1374 - 500,500
1375 - 500,500
1376 - 500,500
1377 - 500,500
1378 - 500,500
1379 - 500,500
1380 - 500,500
1381 - 500,500
1382 - 500,500
1383 - 500,500
1384 - 500,500
1385 - 500,500
1386 - 500,500
1387 - 500,500
1388 - 500,500
1389 - 500,500
1390 - 500,500
1391 - 500,500
1392 - 500,500
1393 - 500,500
1394 - 500,500
1395 - 500,500
1396 - 500,500
1397 - 500,500
1398 - 500,500
1399 - 500,500
1400 - 500,500
1401 - 500,500
1402 - 500,500
1403 - 500,500
1404 - 500,500
1405 - 500,500
1406 - 500,500
1407 - 500,500
1408 - 500,500
1409 - 500,500
1410 - 500,500
1411 - 500,500
1412 - 500,500
1413 - 500,500
1414 - 500,500
1415 - 500,500
1416 - 500,500
1417 - 500,500
1418 - 500,500
1419 - 500,500
1420 - 500,500
1421 - 500,500
1422 - 500,500
1423 - 500,500
1424 - 500,500
1425 - 500,500
1426 - 500,500
1427 - 500,500
1428 - 500,500
1429 - 500,500
1430 - 500,500
1431 - 500,500
1432 - 500,500
1433 - 500,500
1434 - 500,500
1435 - 500,500
1436 - 500,500
1437 - 500,500
1438 - 500,500
1439 - 500,500
1440 - 500,500
1441 - 500,500
1442 - 500,500
1443 - 500,500
1444 - 500,500
1445 - 500,500
1446 - 500,500
1447 - 500,500
1448 - 500,500
1449 - 500,500
1450 - 500,500
1451 - 500,500
1452 - 500,500
1453 - 500,500
1454 - 500,500
1455 - 500,500
1456 - 500,500
1457 - 500,500
1458 - 500,500
1459 - 500,500
1460 - 500,500
1461 - 500,500
1462 - 500,500
1463 - 500,500
1464 - 500,500
1465 - 500,500
1466 - 500,500
1467 - 500,500
1468 - 500,500
1469 - 500,500
1470 - 500,500
1471 - 500,500
1472 - 500,500
1473 - 500,500
1474 - 500,500
1475 - 500,500
1476 - 500,500
1477 - 500,500
1478 - 500,500
1479 - 500,500
1480 - 500,500
1481 - 500,500
1482 - 500,500
1483 - 500,500
1484 - 500,500
1485 - 500,500
1486 - 500,500
1487 - 500,500
1488 - 500,500
1489 - 500,500
1490 - 500,500
1491 - 500,500
1492 - 500,500
1493 - 500,500
1494 - 500,500
1495 - 500,500
1496 - 500,500
1497 - 500,500
1498 - 500,500
1499 - 500,500
1500 - 500,500
1501 - 500,500
1502 - 500,500
1503 - 500,500
1504 - 500,500
1505 - 500,500
1506 - 500,500
1507 - 500,500
1508 - 500,500
1509 - 500,500
1510 - 500,500
1511 - 500,500
1512 - 500,500
1513 - 500,500
1514 - 500,500
1515 - 500,500
1516 - 500,500
1517 - 500,500
1518 - 500,500
1519 - 500,500
1520 - 500,500
1521 - 500,500
1522 - 500,500
1523 - 500,500
1524 - 500,500
1525 - 500,500
1526 - 500,500
1527 - 500,500
1528 - 500,500
1529 - 500,500
1530 - 500,500
1531 - 500,500
1532 - 500,500
1533 - 500,500
1534 - 500,500
1535 - 500,500
1536 - 500,500
1537 - 500,500
1538 - 500,500
1539 - 500,500
1540 - 500,500
1541 - 500,500
1542 - 500,500
1543 - 500,500
1544 - 500,500
1545 - 500,500
1546 - 500,500
1547 - 500,500
1548 - 500,500
1549 - 500,500
1550 - 500,500
1551 - 500,500
1552 - 500,500
1553 - 500,500
1554 - 500,500
1555 - 500,500
1556 - 500,500
1557 - 500,500
1558 - 500,500
1559 - 500,500
1560 - 500,500
1561 - 500,500
1562 - 500,500
1563 - 500,500
1564 - 500,500
1565 - 500,500
1566 - 500,500
1567 - 500,500
1568 - 500,500
1569 - 500,500
1570 - 500,500
1571 - 500,500
1572 - 500,500
1573 - 500,500
1574 - 500,500
1575 - 500,500
1576 - 500,500
1577 - 500,500
1578 - 500,500
1579 - 500,500
1580 - 500,500
1581 - 500,500
1582 - 500,500
1583 - 500,500
1584 - 500,500
1585 - 500,500
1586 - 500,500
1587 - 500,500
1588 - 500,500
1589 - 500,500
1590 - 500,500
1591 - 500,500
1592 - 500,500
1593 - 500,500
1594 - 500,500
1595 - 500,500
1596 - 500,500
1597 - 500,500
1598 - 500,500
1599 - 500,500
1600 - 500,500
1601 - 500,500
1602 - 500,500
1603 - 500,500
1604 - 500,500
1605 - 500,500
1606 - 500,500
1607 - 500,500
1608 - 500,500
1609 - 500,500
1610 - 500,500
1611 - 500,500
1612 - 500,500
1613 - 500,500
1614 - 500,500
1615 - 500,500
1616 - 500,500
1617 - 500,500
1618 - 500,500
1619 - 500,500
1620 - 500,500
1621 - 500,500
1622 - 500,500
1623 - 500,500
1624 - 500,500
1625 - 500,500
1626 - 500,500
1627 - 500,500
1628 - 500,500
1629 - 500,500
1630 - 500,500
1631 - 500,500
1632 - 500,500
1633 - 500,500
1634 - 500,500
1635 - 500,500
1636 - 500,500
1637 - 500,500
1638 - 500,500
1639 - 500,500
1640 - 500,500
1641 - 500,500
1642 - 500,500
1643 - 500,500
1644 - 500,500
1645 - 500,500
1646 - 500,500
1647 - 500,500
1648 - 500,500
1649 - 500,500
1650 - 500,500
1651 - 500,500
1652 - 500,500
1653 - 500,500
1654 - 500,500
1655 - 500,500
1656 - 500,500
1657 - 500,500
1658 - 500,500
1659 - 500,500
1660 - 500,500
1661 - 500,500
1662 - 500,500
1663 - 500,500
1664 - 500,500
1665 - 500,500
1666 - 500,500
1667 - 500,500
1668 - 500,500
1669 - 500,500
1670 - 500,500
1671 - 500,500
1672 - 500,500
1673 - 500,500
1674 - 500,500
1675 - 500,500
1676 - 500,500
1677 - 500,500
1678 - 500,500
1679 - 500,500
1680 - 500,500
1681 - 500,500
1682 - 500,500
1683 - 500,500
1684 - 500,500
1685 - 500,500
1686 - 500,500
1687 - 500,500
1688 - 500,500
1689 - 500,500
1690 - 500,500
1691 - 500,500
1692 - 500,500
1693 - 500,500
1694 - 500,500
1695 - 500,500
1696 - 500,500
1697 - 500,500
1698 - 500,500
1699 - 500,500
1700 - 500,500
1701 - 500,500
1702 - 500,500
1703 - 500,500
1704 - 500,500
1705 - 500,500
1706 - 500,500
1707 - 500,500
1708 - 500,500
1709 - 500,500
1710 - 500,500
1711 - 500,500
1712 - 500,500
1713 - 500,500
1714 - 500,500
1715 - 500,500
1716 - 500,500
1717 - 500,500
1718 - 500,500
1719 - 500,500
1720 - 500,500
1721 - 500,500
1722 - 500,500
1723 - 500,500
1724 - 500,500
1725 - 500,500
1726 - 500,500
1727 - 500,500
1728 - 500,500
1729 - 500,500
1730 - 500,500
1731 - 500,500
1732 - 500,500
1733 - 500,500
1734 - 500,500
1735 - 500,500
1736 - 500,500
1737 - 500,500
1738 - 500,500
1739 - 500,500
1740 - 500,500
1741 - 500,500
1742 - 500,500
1743 - 500,500
1744 - 500,500
1745 - 500,500
1746 - 500,500
1747 - 500,500
1748 - 500,500
1749 - 500,500
1750 - 500,500
1751 - 500,500
1752 - 500,500
1753 - 500,500
1754 - 500,500
1755 - 500,500
1756 - 500,500
1757 - 500,500
1758 - 500,500
1759 - 500,500
1760 - 500,500
1761 - 500,500
1762 - 500,500
1763 - 500,500
1764 - 500,500
1765 - 500,500
1766 - 500,500
1767 - 500,500
1768 - 500,500
1769 - 500,500
1770 - 500,500
1771 - 500,500
1772 - 500,500
1773 - 500,500
1774 - 500,500
1775 - 500,500
1776 - 500,500
1777 - 500,500
1778 - 500,500
1779 - 500,500
1780 - 500,500
1781 - 500,500
1782 - 500,500
1783 - 500,500
1784 - 500,500
1785 - 500,500
1786 - 500,500
1787 - 500,500
1788 - 500,500
1789 - 500,500
1790 - 500,500
1791 - 500,500
1792 - 500,500
1793 - 500,500
1794 - 500,500
1795 - 500,500
1796 - 500,500
1797 - 500,500
1798 - 500,500
1799 - 500,500
1800 - 500,500
1801 - 500,500
1802 - 500,500
1803 - 500,500
1804 - 500,500
1805 - 500,500
1806 - 500,500
1807 - 500,500
1808 - 500,500
1809 - 500,500
1810 - 500,500
1811 - 500,500
1812 - 500,500
1813 - 500,500
1814 - 500,500
1815 - 500,500
1816 - 500,500
1817 - 500,500
1818 - 500,500
1819 - 500,500
1820 - 500,500
1821 - 500,500
1822 - 500,500
1823 - 500,500
1824 - 500,500
1825 - 500,500
1826 - 500,500
1827 - 500,500
1828 - 500,500
1829 - 500,500
1830 - 500,500
1831 - 500,500
1832 - 500,500
1833 - 500,500
1834 - 500,500
1835 - 500,500
1836 - 500,500
1837 - 500,500
1838 - 500,500
1839 - 500,500
1840 - 500,500
1841 - 500,500
1842 - 500,500
1843 - 500,500
1844 - 500,500
1845 - 500,500
1846 - 500,500
1847 - 500,500
1848 - 500,500
1849 - 500,500
1850 - 500,500
1851 - 500,500
1852 - 500,500
1853 - 500,500
1854 - 500,500
1855 - 500,500
1856 - 500,500
1857 - 500,500
1858 - 500,500
1859 - 500,500
1860 - 500,500
1861 - 500,500
1862 - 500,500
1863 - 500,500
1864 - 500,500
1865 - 500,500
1866 - 500,500
1867 - 500,500
1868 - 500,500
1869 - 500,500
1870 - 500,500
1871 - 500,500
1872 - 500,500
1873 - 500,500
1874 - 500,500
1875 - 500,500
1876 - 500,500
1877 - 500,500
1878 - 500,500
1879 - 500,500
1880 - 500,500
1881 - 500,500
1882 - 500,500
1883 - 500,500
1884 - 500,500
1885 - 500,500
1886 - 500,500
1887 - 500,500
1888 - 500,500
1889 - 500,500
1890 - 500,500
1891 - 500,500
1892 - 500,500
1893 - 500,500
1894 - 500,500
1895 - 500,500
1896 - 500,500
1897 - 500,500
1898 - 500,500
1899 - 500,500
1900 - 500,500
1901 - 500,500
1902 - 500,500
1903 - 500,500
1904 - 500,500
1905 - 500,500
1906 - 500,500
1907 - 500,500
1908 - 500,500
1909 - 500,500
1910 - 500,500
1911 - 500,500
1912 - 500,500
1913 - 500,500
1914 - 500,500
1915 - 500,500
1916 - 500,500
1917 - 500,500
1918 - 500,500
1919 - 500,500
1920 - 500,500
1921 - 500,500
1922 - 500,500
1923 - 500,500
1924 - 500,500
1925 - 500,500
1926 - 500,500
1927 - 500,500
1928 - 500,500
1929 - 500,500
1930 - 500,500
1931 - 500,500
1932 - 500,500
1933 - 500,500
1934 - 500,500
1935 - 500,500
1936 - 500,500
1937 - 500,500
1938 - 500,500
1939 - 500,500
1940 - 500,500
1941 - 500,500
1942 - 500,500
1943 - 500,500
1944 - 500,500
1945 - 500,500
1946 - 500,500
1947 - 500,500
1948 - 500,500
1949 - 500,500
1950 - 500,500
1951 - 500,500
1952 - 500,500
1953 - 500,500
1954 - 500,500
1955 - 500,500
1956 - 500,500
1957 - 500,500
1958 - 500,500
1959 - 500,500
1960 - 500,500
1961 - 500,500
1962 - 500,500
1963 - 500,500
1964 - 500,500
1965 - 500,500
1966 - 500,500
1967 - 500,500
1968 - 500,500
1969 - 500,500
1970 - 500,500
1971 - 500,500
1972 - 500,500
1973 - 500,500
1974 - 500,500
1975 - 500,500
1976 - 500,500
1977 - 500,500
1978 - 500,500
1979 - 500,500
1980 - 500,500
1981 - 500,500
1982 - 500,500
1983 - 500,500
1984 - 500,500
1985 - 500,500
1986 - 500,500
1987 - 500,500
1988 - 500,500
1989 - 500,500
1990 - 500,500
1991 - 500,500
1992 - 500,500
1993 - 500,500
1994 - 500,500
1995 - 500,500
1996 - 500,500
1997 - 500,500
1998 - 500,500
1999 - 500,500
2000 - 500,500
2001 - 500,500
1 + Counts,Reference:
2 + 0,500
3 + 0,500
4 + 0,500
5 + 2,500
6 + 5,500
7 + 9,500
8 + 16,500
9 + 24,500
10 + 33,500
11 + 44,500
12 + 57,500
13 + 71,500
14 + 87,500
15 + 104,500
16 + 122,500
17 + 141,500
18 + 162,500
19 + 183,500
20 + 205,500
21 + 227,500
22 + 251,500
23 + 274,500
24 + 298,500
25 + 322,500
26 + 346,500
27 + 370,500
28 + 393,500
29 + 417,500
30 + 440,500
31 + 462,500
32 + 484,500
33 + 505,500
34 + 525,500
35 + 544,500
36 + 562,500
37 + 580,500
38 + 596,500
39 + 611,500
40 + 625,500
41 + 638,500
42 + 650,500
43 + 661,500
44 + 671,500
45 + 679,500
46 + 686,500
47 + 692,500
48 + 697,500
49 + 701,500
50 + 704,500
51 + 706,500
52 + 708,500
53 + 708,500
54 + 707,500
55 + 706,500
56 + 704,500
57 + 701,500
58 + 698,500
59 + 695,500
60 + 690,500
61 + 686,500
62 + 681,500
63 + 676,500
64 + 671,500
65 + 665,500
66 + 660,500
67 + 654,500
68 + 648,500
69 + 643,500
70 + 637,500
71 + 631,500
72 + 626,500
73 + 621,500
74 + 616,500
75 + 611,500
76 + 606,500
77 + 602,500
78 + 598,500
79 + 594,500
80 + 590,500
81 + 586,500
82 + 583,500
83 + 580,500
84 + 578,500
85 + 575,500
86 + 573,500
87 + 571,500
88 + 569,500
89 + 568,500
90 + 566,500
91 + 565,500
92 + 564,500
93 + 564,500
94 + 563,500
95 + 563,500
96 + 562,500
97 + 562,500
98 + 562,500
99 + 562,500
100 + 562,500
101 + 562,500
102 + 562,500
103 + 562,500
104 + 562,500
105 + 562,500
106 + 562,500
107 + 562,500
108 + 562,500
109 + 562,500
110 + 561,500
111 + 561,500
112 + 561,500
113 + 560,500
114 + 559,500
115 + 559,500
116 + 558,500
117 + 557,500
118 + 556,500
119 + 555,500
120 + 554,500
121 + 553,500
122 + 551,500
123 + 550,500
124 + 549,500
125 + 547,500
126 + 546,500
127 + 544,500
128 + 542,500
129 + 541,500
130 + 539,500
131 + 537,500
132 + 535,500
133 + 533,500
134 + 532,500
135 + 530,500
136 + 528,500
137 + 526,500
138 + 524,500
139 + 522,500
140 + 521,500
141 + 519,500
142 + 517,500
143 + 516,500
144 + 514,500
145 + 513,500
146 + 511,500
147 + 510,500
148 + 508,500
149 + 507,500
150 + 506,500
151 + 504,500
152 + 503,500
153 + 502,500
154 + 501,500
155 + 500,500
156 + 499,500
157 + 499,500
158 + 498,500
159 + 497,500
160 + 497,500
161 + 496,500
162 + 496,500
163 + 495,500
164 + 495,500
165 + 494,500
166 + 494,500
167 + 494,500
168 + 494,500
169 + 494,500
170 + 494,500
171 + 494,500
172 + 494,500
173 + 494,500
174 + 494,500
175 + 494,500
176 + 494,500
177 + 494,500
178 + 494,500
179 + 494,500
180 + 494,500
181 + 494,500
182 + 494,500
183 + 494,500
184 + 494,500
185 + 494,500
186 + 494,500
187 + 494,500
188 + 494,500
189 + 494,500
190 + 494,500
191 + 494,500
192 + 494,500
193 + 494,500
194 + 494,500
195 + 494,500
196 + 494,500
197 + 494,500
198 + 494,500
199 + 494,500
200 + 494,500
201 + 494,500
202 + 494,500
203 + 494,500
204 + 494,500
205 + 494,500
206 + 494,500
207 + 494,500
208 + 494,500
209 + 494,500
210 + 494,500
211 + 494,500
212 + 494,500
213 + 494,500
214 + 494,500
215 + 494,500
216 + 494,500
217 + 494,500
218 + 494,500
219 + 494,500
220 + 494,500
221 + 494,500
222 + 494,500
223 + 494,500
224 + 494,500
225 + 494,500
226 + 494,500
227 + 494,500
228 + 494,500
229 + 494,500
230 + 494,500
231 + 494,500
232 + 494,500
233 + 494,500
234 + 494,500
235 + 494,500
236 + 494,500
237 + 494,500
238 + 494,500
239 + 494,500
240 + 494,500
241 + 494,500
242 + 494,500
243 + 494,500
244 + 494,500
245 + 494,500
246 + 495,500
247 + 495,500
248 + 495,500
249 + 495,500
250 + 495,500
251 + 495,500
252 + 495,500
253 + 495,500
254 + 495,500
255 + 495,500
256 + 495,500
257 + 495,500
258 + 495,500
259 + 495,500
260 + 495,500
261 + 495,500
262 + 495,500
263 + 495,500
264 + 495,500
265 + 495,500
266 + 496,500
267 + 496,500
268 + 496,500
269 + 496,500
270 + 496,500
271 + 496,500
272 + 496,500
273 + 496,500
274 + 496,500
275 + 496,500
276 + 496,500
277 + 496,500
278 + 496,500
279 + 496,500
280 + 496,500
281 + 496,500
282 + 496,500
283 + 496,500
284 + 496,500
285 + 496,500
286 + 496,500
287 + 497,500
288 + 497,500
289 + 497,500
290 + 497,500
291 + 497,500
292 + 497,500
293 + 497,500
294 + 497,500
295 + 497,500
296 + 497,500
297 + 497,500
298 + 497,500
299 + 497,500
300 + 497,500
301 + 497,500
302 + 497,500
303 + 497,500
304 + 497,500
305 + 497,500
306 + 497,500
307 + 497,500
308 + 497,500
309 + 497,500
310 + 497,500
311 + 497,500
312 + 497,500
313 + 497,500
314 + 497,500
315 + 497,500
316 + 498,500
317 + 498,500
318 + 498,500
319 + 498,500
320 + 498,500
321 + 498,500
322 + 498,500
323 + 498,500
324 + 498,500
325 + 498,500
326 + 498,500
327 + 498,500
328 + 498,500
329 + 498,500
330 + 498,500
331 + 498,500
332 + 498,500
333 + 498,500
334 + 498,500
335 + 498,500
336 + 498,500
337 + 498,500
338 + 498,500
339 + 498,500
340 + 498,500
341 + 498,500
342 + 498,500
343 + 498,500
344 + 498,500
345 + 498,500
346 + 498,500
347 + 498,500
348 + 498,500
349 + 498,500
350 + 498,500
351 + 498,500
352 + 498,500
353 + 498,500
354 + 499,500
355 + 499,500
356 + 499,500
357 + 499,500
358 + 499,500
359 + 499,500
360 + 499,500
361 + 499,500
362 + 499,500
363 + 499,500
364 + 499,500
365 + 499,500
366 + 499,500
367 + 499,500
368 + 499,500
369 + 499,500
370 + 499,500
371 + 499,500
372 + 499,500
373 + 499,500
374 + 499,500
375 + 499,500
376 + 499,500
377 + 499,500
378 + 499,500
379 + 499,500
380 + 499,500
381 + 499,500
382 + 499,500
383 + 499,500
384 + 500,500
385 + 500,500
386 + 500,500
387 + 500,500
388 + 500,500
389 + 500,500
390 + 500,500
391 + 500,500
392 + 500,500
393 + 500,500
394 + 500,500
395 + 500,500
396 + 500,500
397 + 500,500
398 + 500,500
399 + 500,500
400 + 500,500
401 + 500,500
402 + 500,500
403 + 500,500
404 + 500,500
405 + 500,500
406 + 500,500
407 + 500,500
408 + 500,500
409 + 500,500
410 + 500,500
411 + 500,500
412 + 500,500
413 + 500,500
414 + 500,500
415 + 500,500
416 + 500,500
417 + 500,500
418 + 500,500
419 + 500,500
420 + 500,500
421 + 500,500
422 + 500,500
423 + 500,500
424 + 500,500
425 + 500,500
426 + 500,500
427 + 500,500
428 + 500,500
429 + 500,500
430 + 500,500
431 + 500,500
432 + 500,500
433 + 500,500
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wschrab revised this gist 2 weeks ago. Go to revision

3 files changed, 4002 insertions

PI.txt(file created)

@@ -0,0 +1,2001 @@
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Sine Data.7z(file created)

Binary file changes are not shown

wschrab revised this gist 2 weeks ago. Go to revision

1 file changed, 185 insertions

Lab7 code.cpp (file created)

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1 + ///////////////////////////////////////////////////////////////////////////////////////////////
2 + // SINEIO
3 + ///////////////////////////////////////////////////////////////////////////////////////////////
4 +
5 + #define _CRT_SECURE_NO_WARNINGS
6 + #define _USE_MATH_DEFINES // for C++
7 + #include <cmath>
8 + #include <time.h>
9 + #include <fstream>
10 + #include "IIRdf1filt.h"
11 + #include "../myWin826.h"
12 + #include "../826api.h"
13 + #include "../RealTime.h"
14 +
15 + #define SAMPLE_RATE 1000 // Hz
16 + #define MAX_LOOP_TIME 2 //seconds
17 + #define RECORD_LENGTH (MAX_LOOP_TIME*SAMPLE_RATE)
18 +
19 +
20 + // IO card configuration constants
21 + #define IO_BOARD_NUM 0 // no change
22 + #define ADC_SLOT 0 // no change
23 +
24 + #define DAC_ZERO_OUTPUT 0x8000
25 + #define DAC_CONFIG_GAIN S826_DAC_SPAN_10_10 // -10 to 10 spans 20 volts so...
26 + #define DAC_VRANGE 20.0 // This MUST correspond to the DAC_SPAN just above
27 + #define DAC_CNT_RANGE 0xFFFF // 16-bit DAC
28 + #define DAC_OFFSET_COUNTS 0x8000 // 32768 offset for a signed desired output mapped to unsigned DAC write.
29 +
30 + #define DAC_CHANNEL 1 // SET ME! CHECK YOUR SETUP: DAC channel output
31 +
32 + #define ADC_CHANNEL 0 // SET ME! CHECK YOUR SETUP: analog input channel to track
33 +
34 +
35 + #define ADC_CNT_RANGE 0xFFFF // 2^16= 0xFFFF (16 bit converter)
36 + #define ADC_GAIN S826_ADC_GAIN_1 // -10 to 10 option
37 + #define ADC_VRANGE 20 // this must correspond to gain setting
38 +
39 +
40 + #define ADC_ENABLE 1
41 +
42 +
43 + #define SINE_FREQ 5.0 // Hz
44 + #define SINE_MAG 250 // counts
45 +
46 + /* Coeficients for your second-order filter from matlab (Butter() or other IIR filter... */
47 + /* These are junk values so replace with your design */
48 + const double a[] = { 1.000000000000000, -1.991114292201654, 0.991153595868935 };
49 + const double b[] = { 0.995566972017647, -1.991133944035295, 0.995566972017647 };
50 +
51 + int main()
52 + {
53 + int errcode = S826_ERR_OK;
54 + int boardflags = S826_SystemOpen(); // open 826 driver and find all 826 boards
55 + int ncount = 0;
56 + uint dacout;
57 +
58 + double voltageout = 0;
59 +
60 + double Amp = 0;
61 + double Frequency = 0;
62 +
63 +
64 + double Ti = 0;
65 + double Td = 0;
66 + double Kp = 0.008; // Proportional gain
67 + double Ki = 0;//Kp/Ti; // Integral gain
68 + double Kd = 0;//Kp*Td; // Derivative gain
69 + int current_position = 0; // Actual position from encoder
70 + double ref_position = 0; // Desired position
71 + int error = 0; // Control error
72 + double error_derivative = 0; // Derivative of error
73 + double integrated_error = 0; // Integral of error
74 + int previous_error = 0; // Previous error for derivative calculation
75 + char key = '0'; // Keyboard input
76 +
77 + double t = 0; // time variable for sine wave
78 +
79 + // Data collection variables
80 + int data_log[2000];
81 + int ref_log[2000]; // track position reference
82 + int log_index = 0;
83 +
84 + // encoder interface
85 + uint start_count;
86 + uint counts;
87 + int rawcounts[RECORD_LENGTH];
88 + double filtcounts[RECORD_LENGTH];
89 +
90 + // real-time filter
91 + int N = sizeof(a) / sizeof(double); // number of a's and b's. filter order plus 1.
92 + IIRdf1filt filter(N, a, b); // instantiate and initialize the filter
93 +
94 + // file output
95 + int i;
96 + char outfileName[30];
97 +
98 + counts = 0;
99 +
100 + // instantiate our "real time" object that will pace our loop
101 + RealTime realTime(SAMPLE_RATE);
102 +
103 + // Configure data acquisition interfaces and start them running.
104 + X826(S826_AdcSlotConfigWrite(IO_BOARD_NUM, ADC_SLOT, ADC_CHANNEL, 0, ADC_GAIN)); // program adc timeslot attributes: slot, chan, 0us settling time. For -5V-5V use: "S826_ADC_GAIN_2"
105 + X826(S826_AdcSlotlistWrite(IO_BOARD_NUM, 1 << ADC_SLOT, S826_BITWRITE)); // enable adc timeslot; disable all other slots
106 + X826(S826_AdcEnableWrite(IO_BOARD_NUM, ADC_ENABLE)); // enable adc conversions
107 + X826(S826_DacRangeWrite(IO_BOARD_NUM, DAC_CHANNEL, DAC_CONFIG_GAIN, 0)); // program dac output range: -10V to +10V
108 +
109 + // Initialize Motor Shaft Encoder Interface
110 + S826_CounterModeWrite(0, 0, S826_CM_K_QUADX1); // Configure counter0 as incremental encoder interface.
111 + S826_CounterStateWrite(0, 0, 1); // Start tracking encoder position.
112 + S826_CounterRead(0, 0, &start_count); // Read initial encoder counts
113 +
114 + // commence pseudo-real-time loop.
115 + realTime.Start();
116 +
117 + while (key != 'q')
118 + {
119 + // Calculate current time 't'
120 + t = (double)ncount / SAMPLE_RATE;
121 +
122 + // Generate sine wave signal
123 + ref_position = SINE_MAG * sin(2.0 * M_PI * SINE_FREQ * t);
124 +
125 + // scale the desired voltage to the DAC integer output.
126 + dacout = (uint)(voltageout * (DAC_CNT_RANGE / DAC_VRANGE) + DAC_OFFSET_COUNTS);
127 +
128 + // output to the DAC
129 + X826(S826_DacDataWrite(IO_BOARD_NUM, DAC_CHANNEL, dacout, 0));
130 +
131 + S826_CounterRead(0, 0, &counts); // Read current encoder counts.
132 + counts = counts - start_count; // Subtracting the initial counts so we begin from 0
133 +
134 + error = (int)ref_position - counts;
135 + integrated_error += error * (1.00 / SAMPLE_RATE);
136 + error_derivative = (error - previous_error) / (1.00 / SAMPLE_RATE);
137 + previous_error = error;
138 + voltageout = Kp * error + Kd * error_derivative + Ki * integrated_error;
139 +
140 + //Saftey
141 + if (voltageout > 10.0) voltageout = 10.0;
142 + if (voltageout < -10.0) voltageout = -10.0;
143 +
144 + // 1. Read Keyboard Input
145 + if (_kbhit()) // if you hit a key keyboard then read input
146 + {
147 + key = _getch();
148 + if (key == 'M') ref_position += 500; // 'right arrow key' increments ref
149 + else if (key == 'K') ref_position -= 500; // 'left arrow key' decrements ref ;
150 + }
151 +
152 + if (log_index < 2000) {
153 + data_log[log_index] = counts;
154 + ref_log[log_index] = (int)ref_position;
155 + log_index++;
156 + }
157 +
158 + realTime.Sleep();
159 + ncount++;
160 + }
161 +
162 + realTime.Stop(ncount); // stop real-time loop
163 +
164 + X826(S826_DacDataWrite(IO_BOARD_NUM, DAC_CHANNEL, DAC_ZERO_OUTPUT, 0)); // put to zero at the end
165 + S826_SystemClose();
166 +
167 + // file output
168 + printf("\nType in a file name (freq_amp like 50_10 for 5Hz, 1V is a good idea):\n");
169 + scanf("%s", outfileName);
170 +
171 + std::ofstream outfile(strcat(outfileName, ".txt")); // our test file to filter
172 +
173 + outfile << "Counts,Reference:\n";
174 + //outfile << Frequency << "," << Amp << "\n";
175 +
176 + // Write raw data to first column of output file
177 + for (i = 0; i < log_index; i++)
178 + {
179 + outfile << data_log[i] << "," << ref_log[i] << "\n";
180 + }
181 +
182 + outfile.close();
183 +
184 + return 0;
185 + }
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