Now implement these discrete filters WITHOUT using the discrete filter API. Use Tustin’s approximation to generate discrete-time filter constants for a sample rate of 100hz. Part 4: Modify your Matlab code to have continuous time filters with your preferred rise time. What is the new rise time you prefer? Why? Part 3: Now experiment with the rise time until you find a value you are satisfied with. Plot these two filtered values and their sum as you tilt the BeagleBone through the same motion you used in HW5. Run the accelerometer angle estimate through the low pass filter and the gyroscope angle estimate through the high pass filter. Use the discrete filter API to create a low and high pass filter with the same rise time as you used in question 1. Part 2: Modify your existing sensor reading program to use 100hz for a smoother angle estimate. Make sure to include a legend that clearly identifies what curve is. Plot the two filters and their sum on a single bode plot. Make sure that the sum of the two transfer functions is 1. Choose a rise time for your two filters and justify your choice. In Matlab, design two first order continuous-time filters, one high pass and one low pass. Part 1: Now you will combine the accelerometer and gyroscope derived angle estimates to make one which has the best qualities of both. Then read the RoboticsCape API documentation for discrete filters and ring buffers here and here. Setup: Make a copy of the program you wrote in the previous assignment “Reading Sensor Data” and rename it to complementary_filter. However, all source code, answers, and figures must be your own. You may work together with a partner and may even share a BeagleBone. As you did for HW5, you will email (just once!) a single PDF file (nothing else!) to with your full name and student ID on the subject line, before the due date/time. HW6, Complementary Filtering (due Fri, Dec 2, 11:59pm): As for HW5, please create a single PDF document containing the answers to all questions and requested plots in this assignment, including your source code on the last page. HW7, Final project (due Sat, Dec 10, 11:59pm) : HW7 is available in PDF form here. For the build instructions for the MIP, please clic k here.
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