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try to fix final function

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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
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20
EENX15_LQR/LQR.ino
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@ -90,27 +90,23 @@ int inputToControlSystem(float position_m, float angle_r){
(Gain4_Gain[i + 4] * Integrator1_CSTATE[1] +
Gain4_Gain[i] * Integrator1_CSTATE[0])));
}
/*
Integrator1_CSTATE[0] = rtDW.Sum4[0];
Integrator1_CSTATE[1] = rtDW.Sum4[1];
Integrator1_CSTATE[2] = rtDW.Sum4[2];
Integrator1_CSTATE[3] = rtDW.Sum4[3];
*/
Arduino_skal_derivatives();
return saturatedSignalToMotors();
}
// | ///////////////////////////////////
// | //Row 215-225 in Arduino_skal.cpp
// v ///////////////////////////////////
/*
void Arduino_skalModelClass::Arduino_skal_derivatives()
{
Arduino_skalModelClass::XDot *_rtXdot;
void Arduino_skal_derivatives()
{/*
XDot *_rtXdot;
_rtXdot = ((XDot *) (&rtM)->derivs);
// Derivatives for Integrator: '<Root>/Integrator1'
_rtXdot->Integrator1_CSTATE[0] = rtDW.Sum4[0];
_rtXdot->Integrator1_CSTATE[1] = rtDW.Sum4[1];
_rtXdot->Integrator1_CSTATE[2] = rtDW.Sum4[2];
_rtXdot->Integrator1_CSTATE[3] = rtDW.Sum4[3];
}*/
_rtXdot->Integrator1_CSTATE[3] = rtDW.Sum4[3];*/
}