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) */ |
24 | P_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 | |