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

try to fix final function

Browse Source
This commit is contained in:
Thefeli73 2021-04-17 14:05:54 +02:00
parent 664b8b0109
commit 5f559bb895
1 changed files with 8 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
EENX15_LQR/LQR.ino
View File

@ -90,27 +90,23 @@ int inputToControlSystem(float position_m, float angle_r){
(Gain4_Gain[i + 4] * Integrator1_CSTATE[1] + (Gain4_Gain[i + 4] * Integrator1_CSTATE[1] +
Gain4_Gain[i] * Integrator1_CSTATE[0]))); Gain4_Gain[i] * Integrator1_CSTATE[0])));
} }
/*
Integrator1_CSTATE[0] = rtDW.Sum4[0]; Arduino_skal_derivatives();
Integrator1_CSTATE[1] = rtDW.Sum4[1];
Integrator1_CSTATE[2] = rtDW.Sum4[2];
Integrator1_CSTATE[3] = rtDW.Sum4[3];
*/
return saturatedSignalToMotors(); return saturatedSignalToMotors();
} }
// | /////////////////////////////////// // | ///////////////////////////////////
// | //Row 215-225 in Arduino_skal.cpp // | //Row 215-225 in Arduino_skal.cpp
// v /////////////////////////////////// // v ///////////////////////////////////
/*
void Arduino_skalModelClass::Arduino_skal_derivatives() void Arduino_skal_derivatives()
{ {/*
Arduino_skalModelClass::XDot *_rtXdot; XDot *_rtXdot;
_rtXdot = ((XDot *) (&rtM)->derivs); _rtXdot = ((XDot *) (&rtM)->derivs);
// Derivatives for Integrator: '<Root>/Integrator1' // Derivatives for Integrator: '<Root>/Integrator1'
_rtXdot->Integrator1_CSTATE[0] = rtDW.Sum4[0]; _rtXdot->Integrator1_CSTATE[0] = rtDW.Sum4[0];
_rtXdot->Integrator1_CSTATE[1] = rtDW.Sum4[1]; _rtXdot->Integrator1_CSTATE[1] = rtDW.Sum4[1];
_rtXdot->Integrator1_CSTATE[2] = rtDW.Sum4[2]; _rtXdot->Integrator1_CSTATE[2] = rtDW.Sum4[2];
_rtXdot->Integrator1_CSTATE[3] = rtDW.Sum4[3]; _rtXdot->Integrator1_CSTATE[3] = rtDW.Sum4[3];*/
}*/ }