Here’s a nice little example program with a notch filter implemented.
Here’s the basic equation:
It’s easy to change the notch center and also the width - Q with the variables in the equation.
Here’s the project, this one is implemented and an RMC75 but will be easy to copy over to your 150.
NotchFilter.rmcproj (21.1 KB)
Also, here’s a quick screen shot of the filter in action, I have this one setup with a notch center at 10Hz, you can see its working very well:
One last note, the filter works just as it should, but if it’s feedback you are wanting to filter, you’ll want to setup your axis as a custom feedback axis and run the actual feedback you are receiving through this filter then back into the axis as a variable. Here’s an example where this is done: Redundant/Custom Feedback
Don’t hesitate to reach out if you have questions, and good luck on your project!