1/*
2 * VisionControl_data.c
3 *
4 * Classroom License -- for classroom instructional use only. Not for
5 * government, commercial, academic research, or other organizational use.
6 *
7 * Code generation for model "VisionControl".
8 *
9 * Model version : 1.14
10 * Simulink Coder version : 8.11 (R2016b) 25-Aug-2016
11 * C source code generated on : Thu Dec 01 15:18:37 2016
12 *
13 * Target selection: ert.tlc
14 * Note: GRT includes extra infrastructure and instrumentation for prototyping
15 * Embedded hardware selection: ARM Compatible->ARM Cortex
16 * Code generation objectives: Unspecified
17 * Validation result: Not run
18 */
19
20#include "VisionControl.h"
21#include "VisionControl_private.h"
22
23/* Block parameters (auto storage) */
24P_VisionControl_T VisionControl_P = {
25 /* Variable: km4piCam
26 * Referenced by: '<Root>/Raspicam Calibration matrix'
27 */
28 { 0.0014435743319435516, -1.3558695371707584E-6, -0.74427217404776724,
29 1.9095855874653314E-5, 0.0014213977840648426, -0.65688517747899988,
30 6.7620033280884565E-6, 9.7833253755001681E-7, -0.12065110797215477 },
31 0.4, /* Mask Parameter: PIDController2DOF1_D
32 * Referenced by: '<S4>/Derivative Gain'
33 */
34 1.0, /* Mask Parameter: PIDController2DOF1_I
35 * Referenced by: '<S4>/Integral Gain'
36 */
37 1.0, /* Mask Parameter: PIDController2DOF1_Kb
38 * Referenced by: '<S4>/Kb'
39 */
40 -0.3, /* Mask Parameter: PIDController2DOF1_LowerSaturat
41 * Referenced by: '<S4>/Saturate'
42 */
43 20.0, /* Mask Parameter: PIDController2DOF1_N
44 * Referenced by: '<S4>/Filter Coefficient'
45 */
46 3.0, /* Mask Parameter: PIDController2DOF1_P
47 * Referenced by: '<S4>/Proportional Gain'
48 */
49 0.3, /* Mask Parameter: PIDController2DOF1_UpperSaturat
50 * Referenced by: '<S4>/Saturate'
51 */
52 1.0, /* Mask Parameter: PIDController2DOF1_b
53 * Referenced by: '<S4>/Setpoint Weighting (Proportional)'
54 */
55 0.0, /* Mask Parameter: PIDController2DOF1_c
56 * Referenced by: '<S4>/Setpoint Weighting (Derivative)'
57 */
58
59 /* Expression: [3.5, 3.5]
60 * Referenced by: '<Root>/Referece position'
61 */
62 { 3.5, 3.5 },
63 0.02, /* Computed Parameter: Integrator_gainval
64 * Referenced by: '<S4>/Integrator'
65 */
66 0.0, /* Expression: InitialConditionForIntegrator
67 * Referenced by: '<S4>/Integrator'
68 */
69 0.02, /* Computed Parameter: Filter_gainval
70 * Referenced by: '<S4>/Filter'
71 */
72 0.0 /* Expression: InitialConditionForFilter
73 * Referenced by: '<S4>/Filter'
74 */
75};
76