diff --git a/EENX15_LQR/lqr_fullstate.ino b/EENX15_LQR/lqr_fullstate.ino
new file mode 100644
index 0000000..929b0ef
--- /dev/null
+++ b/EENX15_LQR/lqr_fullstate.ino
@@ -0,0 +1,42 @@
+float lqr_fullstate(float position_m, float speed_ms, float angle_r, float angle_speed_rs){
+//  const float matrix_K [4] = {-0.0316,   -0.3938,   22.9455,    3.0629};
+//  const float matrix_K [4] = {-1.0000,   -1.8855,   26.6999,    3.8592};
+//  const float matrix_K [4] = {-1.0000,   -1.9058,   27.0579,    3.8886};
+//  const float matrix_K [4] = {-0.3162,   -1.0381,   24.6060,    3.4143};
+//  const float matrix_K [4] = {-0.1054,   -0.6273,   23.5822,    3.1936};
+//  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};
+  
+  float result;
+  result = matrix_K[0] * position_m +
+           matrix_K[1] * speed_ms +
+           matrix_K[2] * angle_r +
+           matrix_K[3] * angle_speed_rs;
+  result *= 0.05;
+  /*
+  if (result > 0.29) {
+    result = 0.29;
+  } else if (result < -0.29) {
+    result = -0.29;
+  } else {
+    result = result;
+  }*/
+  Serial.print("K calculation: "); Serial.println(result); 
+  return result;
+}
+float calc_speed(float input) {
+  /*
+  float a = -2971;
+  float b = -0.9929;
+  float c = 90.75;
+  float radps = a * pow(speed, b) + c; ////// the response graph
+  */
+  float scale = 8;
+  input = abs(input)*0.30796*scale; // scale down to rad/s (78,53/255)
+  float result = pow((3145.84/(90.75 - input)),1.00715); // break out x from response graph
+  
+  Serial.print("calcspeed: "); Serial.println(result); 
+  return result;
+  
+}