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) */ |
24 | P_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 | |