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https://gitlab.com/lander-team/lander-cpp.git
synced 2025-06-16 07:06:51 +00:00
changed all LQR references to PID
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@ -22,7 +22,7 @@ struct Vehicle {
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double thrust, burnElapsed, burnStart;
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bool thrustFiring = false;
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double LQRx, LQRy, Fx, Fy, Fz;
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double PIDx, PIDy, Fx, Fy, Fz;
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double momentX, momentY, momentZ;
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double I11, I22, I33;
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@ -31,8 +31,8 @@ struct outVector {
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std::vector<bool> thrustFiring = std::vector<bool>(length, 0.0);
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std::vector<double> LQRx = std::vector<double>(length, 0.0);
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std::vector<double> LQRy = std::vector<double>(length, 0.0);
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std::vector<double> PIDx = std::vector<double>(length, 0.0);
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std::vector<double> PIDy = std::vector<double>(length, 0.0);
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};
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#endif
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102
include/sim.h
102
include/sim.h
@ -3,7 +3,6 @@
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void burnStartTimeCalc(struct Vehicle &);
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void thrustSelection(struct Vehicle &, int t);
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void lqrCalc(struct Vehicle &);
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void pidController(struct Vehicle &, struct Vehicle &);
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void TVC(struct Vehicle &);
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void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
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@ -31,7 +30,6 @@ bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
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vehicleDynamics(State, PrevState, t);
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thrustSelection(State, t);
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pidController(State, PrevState);
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// lqrCalc(State);
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TVC(State);
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state2vec(State, PrevState, stateVector, t);
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@ -203,63 +201,6 @@ void thrustSelection(Vehicle &State, int t) {
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}
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}
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void lqrCalc(Vehicle &State) {
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State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
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// Paste in Values from gainCalc.m
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double K11 = 39.54316;
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double K12 = 0.00000;
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double K13 = -0.00000;
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double K14 = 39.55769;
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double K15 = 0.00000;
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double K16 = 0.00000;
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double K21 = 0.00000;
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double K22 = 39.54316;
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double K23 = 0.00000;
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double K24 = 0.00000;
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double K25 = 39.55769;
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double K26 = 0.00000;
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double K31 = 0.00000;
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double K32 = 0.00000;
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double K33 = 39.54316;
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double K34 = 0.00000;
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double K35 = 0.00000;
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double K36 = 39.54394;
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// changing gain exponent drastically changes results of LQR
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double gain = 0.25 * pow(10, -4);
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// Matrix Multiply K with [YPR/2; w123] column vector and divide by moment
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// arm
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State.LQRx =
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gain *
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((K12 * State.pitch) / 2 + K15 * State.pitchdot + (K13 * State.roll) / 2 +
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K16 * State.rolldot + (K11 * State.yaw) / 2 + K14 * State.yawdot) /
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-State.momentArm;
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State.LQRy =
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gain *
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((K22 * State.pitch) / 2 + K25 * State.pitchdot + (K23 * State.roll) / 2 +
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K26 * State.rolldot + (K21 * State.yaw) / 2 + K24 * State.yawdot) /
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-State.momentArm;
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// LQR Force limiter X
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if (State.LQRx > State.thrust)
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State.LQRx = State.thrust;
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else if (State.LQRx < -1 * State.thrust)
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State.LQRx = -1 * State.thrust;
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// LQR Force limiter Y
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if (State.LQRy > State.thrust)
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State.LQRy = State.thrust;
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else if (State.LQRy < -1 * State.thrust)
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State.LQRy = -1 * State.thrust;
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}
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void pidController(Vehicle &State, struct Vehicle &PrevState) {
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// Make sure we start reacting when we start burning
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if (State.thrust > 0.01) {
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@ -275,32 +216,31 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
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State.d_yError = derivative(State.yError, PrevState.yError, State.stepSize);
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State.d_pError = derivative(State.pError, PrevState.pError, State.stepSize);
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// PID Function - it says LQR but this is just so that it gets passed to the
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// TVC block properly
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State.LQRx = (State.Kp * State.yError + State.Ki * State.i_yError +
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State.PIDx = (State.Kp * State.yError + State.Ki * State.i_yError +
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State.Kd * State.d_yError) /
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State.momentArm;
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State.LQRy = (State.Kp * State.pError + State.Ki * State.i_pError +
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State.PIDy = (State.Kp * State.pError + State.Ki * State.i_pError +
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State.Kd * State.d_pError) /
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State.momentArm;
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} else {
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State.LQRx = 0;
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State.LQRy = 0;
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State.PIDx = 0;
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State.PIDy = 0;
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}
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// LQR Force limiter X
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if (State.LQRx > State.thrust)
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State.LQRx = State.thrust;
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else if (State.LQRx < -1 * State.thrust)
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State.LQRx = -1 * State.thrust;
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// PID Force limiter X
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if (State.PIDx > State.thrust)
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State.PIDx = State.thrust;
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else if (State.PIDx < -1 * State.thrust)
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State.PIDx = -1 * State.thrust;
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// LQR Force limiter Y
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if (State.LQRy > State.thrust)
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State.LQRy = State.thrust;
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else if (State.LQRy < -1 * State.thrust)
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State.LQRy = -1 * State.thrust;
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// PID Force limiter Y
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if (State.PIDy > State.thrust)
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State.PIDy = State.thrust;
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else if (State.PIDy < -1 * State.thrust)
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State.PIDy = -1 * State.thrust;
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}
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void TVC(Vehicle &State) {
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@ -316,7 +256,7 @@ void TVC(Vehicle &State) {
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} else {
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// Convert servo position to degrees for comparison to max allowable
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State.xServoDegs = (180 / M_PI) * asin(State.LQRx / State.thrust);
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State.xServoDegs = (180 / M_PI) * asin(State.PIDx / State.thrust);
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// Servo position limiter
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if (State.xServoDegs > State.maxServo)
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@ -325,7 +265,7 @@ void TVC(Vehicle &State) {
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State.xServoDegs = -1 * State.maxServo;
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// Convert servo position to degrees for comparison to max allowable
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State.yServoDegs = (180 / M_PI) * asin(State.LQRy / State.thrust);
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State.yServoDegs = (180 / M_PI) * asin(State.PIDy / State.thrust);
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// Servo position limiter
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if (State.yServoDegs > State.maxServo)
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@ -374,8 +314,8 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
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stateVector.thrustFiring[t] = State.thrustFiring;
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stateVector.LQRx[t] = State.LQRx;
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stateVector.LQRy[t] = State.LQRy;
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stateVector.PIDx[t] = State.PIDx;
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stateVector.PIDy[t] = State.PIDy;
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// Set "prev" values for next timestep
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PrevState = State;
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@ -396,7 +336,7 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
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// Output file header. These are the variables that we output - useful for
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// debugging
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outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, "
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"pitchdot, rolldot, Servo1, Servo2, thrustFiring, LQRx, LQRy, "
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"pitchdot, rolldot, Servo1, Servo2, thrustFiring, PIDx, PIDy, "
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"thrust, deriv"
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<< std::endl;
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@ -431,8 +371,8 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
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outfile << stateVector.thrustFiring[t] << ", ";
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outfile << stateVector.LQRx[t] << ", ";
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outfile << stateVector.LQRy[t] << std::endl;
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outfile << stateVector.PIDx[t] << ", ";
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outfile << stateVector.PIDy[t] << std::endl;
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}
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outfile.close();
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@ -36,7 +36,7 @@ S = icare(A, B, Q, R);
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K = Rinv * B' * S;
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%% Outputs
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% Copy results in command window to LQRcalc function in C++
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% Copy results in command window to PIDcalc function in C++
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fprintf("double K11 = %3.5f;\n", K(1, 1))
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fprintf("double K12 = %3.5f;\n", K(1, 2))
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fprintf("double K13 = %3.5f;\n", K(1, 3))
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@ -27,8 +27,8 @@ rolldot = T(:, 16);
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Servo1 = T(:, 17);
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Servo2 = T(:, 18);
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LQRx = T(:, 20);
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LQRy = T(:, 21);
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PIDx = T(:, 20);
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PIDy = T(:, 21);
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% Acceleration
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subplot(3, 1, 1)
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@ -99,15 +99,15 @@ figure(4)
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% Servo 1 Position
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subplot(2, 1, 1)
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plot(t, LQRx)
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title('LQRx vs Time')
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plot(t, PIDx)
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title('PIDx vs Time')
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xlabel('Time (ms)')
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ylabel('LQRx')
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ylabel('PIDx')
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% Servo 2 Position
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subplot(2, 1, 2)
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plot(t, LQRy)
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title('LQRy vs Time')
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plot(t, PIDy)
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title('PIDy vs Time')
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xlabel('Time (ms)')
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ylabel('LQRy')
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ylabel('PIDy')
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%saveas(gcf,'outputs/Servo Position vs Time.png')
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