Bicop EMPC fix for UNO

gergelytakacs · May 28, 2024 · 46faef5 · 46faef5
1 parent 417a8f8
commit 46faef5
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diff --git a/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC.ino b/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC.ino
@@ -12,7 +12,7 @@
   a predetermined reference trajectory. Upload the code to your board
   and open the Serial Plotter tool in Arduino IDE.
 
-  Tested on an UNO(max prediction horizon 3).
+  Tested on an UNO(max prediction horizon 1).
 
   This code is part of the AutomationShield hardware and software
   ecosystem. Visit http://www.automationshield.com for more

diff --git a/examples/BicopShield/BicopShield_EMPC/ectrl.h b/examples/BicopShield/BicopShield_EMPC/ectrl.h
diff --git a/examples/BicopShield/BicopShield_EMPC/ectrl_due.h b/examples/BicopShield/BicopShield_EMPC/ectrl_due.h
diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC_Simulation.m b/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC_Simulation.m
@@ -68,7 +68,7 @@
 xhat = zeros(2,1);                        % States estimated by Kalman filter
 yhat = zeros(1,1);                        % Outputs estimated by Kalman filter
 Y = zeros(1,1);
-kalmanrychlost=zeros(1,length(measuredOutput));
+%kalmanrychlost=zeros(1,length(measuredOutput));
 disp('Simulating...')
 for k=1:length(t)-1
     Rr(k)=R(i);                           % Original reference, just for logging
@@ -168,7 +168,7 @@
 %% export controller files for usage in arduino example and Python
 if exportempc
     ectrl.exportToC('ectrl','cmpc')       % Export to C
-    empcToC(ectrl,'AVR');                 % Export to code, for ARM MCU use 'generic', for AVR use 'AVR'
+    empcToC(ectrl,'generic');                 % Export to code, for ARM MCU use 'generic', for AVR use 'AVR'
     % empcToPython(ectrl);                  % Export to code suitable for Python
 end
 

diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_GreyboxModel_LinearSS.mat b/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_GreyboxModel_LinearSS.mat
diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/ectrl.h b/matlab/examples/BicopShield/BicopShield_EMPC/ectrl.h
diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/ectrl_due.h b/matlab/examples/BicopShield/BicopShield_EMPC/ectrl_due.h
diff --git a/matlab/examples/BicopShield/BicopShield_LQI/BicopShield_GreyboxModel_LinearSS.mat b/matlab/examples/BicopShield/BicopShield_LQI/BicopShield_GreyboxModel_LinearSS.mat