feedback MS150, Reference Manual, Page: 16 / 77

CHAPTER 2
MODULAR SERVO
Reference Manual
Description of the Toolbox Functions
33-008-2M5 2-5
GetChan1Filt, GetChan2Filt, GetChan3Filt,
GetChan4Filt, GetChan5Filt, GetChan6Filt
Purpose:
Get the parameters of the digital filters.
Synopsis : fi = es_call( 'GetChan1Filt' )
fi = es_call( 'GetChan2Filt' )
fi = es_call( 'GetChan3Filt' )
fi = es_call( 'GetChan4Filt' )
fi = es_call( 'GetChan5Filt' )
fi = es_call( 'GetChan6Filt' )
1 Description: These functions get the parameters of the digital filters currently
active in the RTK. The filter functions GetChan1Filt, GetChan2Filt, GetChan3Filt,
GetChan4Filt, GetChan5Filt and GetChan6Filt are associated with the input channel
1, input channel 2, input channel 3, input channel 4, input channel 5 and input
channel 6 respectively (see description of the GetHistory function).
The filter structure is described by the difference equation:
y t a x t a x t iT b y t iT
i
i
i
i
( ) ( ) ( ) ( )
= + − + −
= =
∑ ∑
0 0
1
8
0
1
8
,
where:
y t ( ) - filter output,
x t ( ) - filter input,
T
0
- sampling period,
a a b b
0 8 1 8
, , , , , - parameters of the filter.