schulze/EENX15
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

testa ny k matrix

Browse Source
This commit is contained in:
Thefeli73
2021-04-21 15:26:24 +02:00
parent 9463979545
commit 1ab859ec5a
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
EENX15_LQR/lqr_fullstate.ino
View File

@@ -7,7 +7,8 @@ float lqr_fullstate(float position_m, float speed_ms, float angle_r, float angle
// const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876};
// const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876};
// const float matrix_K [4] = {-0.7071, -1.5720, 26.0726, 3.7050};
const float matrix_K [4] = {-0.7071, -1.5980, 26.6081, 4.3220};
// const float matrix_K [4] = {-0.7071, -1.5980, 26.6081, 4.3220};
const float matrix_K [4] = {-0.7071, -1.7751, 34.5368, 4.8793};
float result;
result = matrix_K[0] * position_m +