1/*
2 * RaspberrySmithPredictor_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 "RaspberrySmithPredictor".
8 *
9 * Model version : 1.1
10 * Simulink Coder version : 8.11 (R2016b) 25-Aug-2016
11 * C source code generated on : Tue Dec 20 14:52:06 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 "RaspberrySmithPredictor.h"
21#include "RaspberrySmithPredictor_private.h"
22
23/* Block parameters (auto storage) */
24P_RaspberrySmithPredictor_T RaspberrySmithPredictor_P = {
25 /* Variable: km4pi
26 * Referenced by: '<S3>/Sentinel Calibration matrix'
27 */
28 { 0.67375662057511243, 0.0066291335530167111, -0.091723094950921763,
29 0.0024216535349506421, -0.51840549150794368, 0.50934737786271056,
30 0.0013171656385617125, 0.0016154175503415302, 0.09698314702012939 },
31
32 /* Variable: km4piCam
33 * Referenced by: '<S1>/Sentinel Calibration matrix1'
34 */
35 { 0.0014174653893671066, -5.4436576113462321E-6, -0.74519931274253626,
36 3.5626196289901326E-5, 0.0014043001355219257, -0.65560905448516538,
37 6.600275208316366E-6, 3.1746480591899641E-6, -0.12186373269195942 },
38 0.4, /* Mask Parameter: PIDController2DOF_D
39 * Referenced by: '<S5>/Derivative Gain'
40 */
41 1.0, /* Mask Parameter: PIDController2DOF_I
42 * Referenced by: '<S5>/Integral Gain'
43 */
44 1.0, /* Mask Parameter: PIDController2DOF_Kb
45 * Referenced by: '<S5>/Kb'
46 */
47 -0.3, /* Mask Parameter: PIDController2DOF_LowerSaturati
48 * Referenced by: '<S5>/Saturate'
49 */
50 20.0, /* Mask Parameter: PIDController2DOF_N
51 * Referenced by: '<S5>/Filter Coefficient'
52 */
53 1.0, /* Mask Parameter: PIDController2DOF_P
54 * Referenced by: '<S5>/Proportional Gain'
55 */
56 0.3, /* Mask Parameter: PIDController2DOF_UpperSaturati
57 * Referenced by: '<S5>/Saturate'
58 */
59 1.0, /* Mask Parameter: PIDController2DOF_b
60 * Referenced by: '<S5>/Setpoint Weighting (Proportional)'
61 */
62 0.0, /* Mask Parameter: PIDController2DOF_c
63 * Referenced by: '<S5>/Setpoint Weighting (Derivative)'
64 */
65
66 /* Expression: [2.5, 2.5]
67 * Referenced by: '<Root>/Referece position'
68 */
69 { 2.5, 2.5 },
70 0.02, /* Computed Parameter: Integrator_gainval
71 * Referenced by: '<S5>/Integrator'
72 */
73 0.0, /* Expression: InitialConditionForIntegrator
74 * Referenced by: '<S5>/Integrator'
75 */
76 0.02, /* Computed Parameter: Filter_gainval
77 * Referenced by: '<S5>/Filter'
78 */
79 0.0, /* Expression: InitialConditionForFilter
80 * Referenced by: '<S5>/Filter'
81 */
82
83 /* Computed Parameter: Linearmodeloftherollingball2ind
84 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)'
85 */
86 { 1.0, 1.0 },
87
88 /* Computed Parameter: Linearmodeloftherollingball2i_c
89 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)'
90 */
91 { 68.0, 68.0 },
92
93 /* Computed Parameter: Linearmodeloftherollingball2i_d
94 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)'
95 */
96 { 1.0, 1.0 },
97
98 /* Expression: [0,2.5,0,2.5]
99 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)'
100 */
101 { 0.0, 2.5, 0.0, 2.5 },
102 0.0, /* Expression: 0
103 * Referenced by: '<Root>/Delay'
104 */
105
106 /* Computed Parameter: Linearmodeloftherollingball2i_o
107 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)1'
108 */
109 { 1.0, 1.0 },
110
111 /* Computed Parameter: Linearmodeloftherollingball2i_g
112 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)1'
113 */
114 { 68.0, 68.0 },
115
116 /* Computed Parameter: Linearmodeloftherollingball2i_k
117 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)1'
118 */
119 { 1.0, 1.0 },
120
121 /* Expression: [0,2.5,0,2.5]
122 * Referenced by: '<Root>/Linear model of the rolling ball (2 independent double integrators)1'
123 */
124 { 0.0, 2.5, 0.0, 2.5 },
125 2U /* Computed Parameter: Delay_DelayLength
126 * Referenced by: '<Root>/Delay'
127 */
128};
129