Difference between revisions of "MATLAB code"
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| − | == | + | == MATLAB files == |
| − | + | === animateBike.m === | |
| − | + | Inputs: | |
| − | + | * state | |
| + | * p | ||
| + | * motCommands | ||
| + | * delta_offset | ||
| + | * phi_offset | ||
| + | === balanceControlOptimizer.m === | ||
| + | === BikeAndMotorConstants.m === | ||
| + | === CircleAboutZ.m === | ||
| + | Inputs: | ||
| + | * r - radius of the circle | ||
| + | === drawBike.m === | ||
| + | Inputs: | ||
| + | * x | ||
| + | * y | ||
| + | * z | ||
| + | * yaw | ||
| + | * roll | ||
| + | * steer | ||
| + | * p | ||
| + | === lqr_BC_optimizer.m === | ||
| + | === plotMultipleControllersTogether.m === | ||
| + | === rhs.m === | ||
| + | * currentState | ||
| + | * p | ||
| + | * K | ||
| + | * delta_offset | ||
| + | * phi_offset | ||
| + | === runBicycleTest.m === | ||
| + | Inputs: | ||
| + | * x0,y0 - intial location | ||
| + | * v0 - initial speed | ||
| + | * delta0 - intial steer angle | ||
| + | * phi0 - intial lean angle | ||
| + | * phi_dot0 - intial derivative of lean angle | ||
| + | * psi0 - intial yaw angle (heading) | ||
| + | * K - vector of gains (k1, k2, k3) | ||
| + | * delta_offset - either a scalar (a constant offset), or a vector of offsets (the bike will attempt to hit delta_offset(n) at the nth timestep | ||
| + | * numTimeSteps - the number of time steps to run the simulation for | ||
| + | * graph - 1= draws graph, 0 =does not | ||
| + | === testSteerOffset.m === | ||
== See also == | == See also == | ||
* [[LQR]] | * [[LQR]] | ||
Revision as of 20:45, 14 May 2020
Contents
MATLAB files
animateBike.m
Inputs:
- state
- p
- motCommands
- delta_offset
- phi_offset
balanceControlOptimizer.m
BikeAndMotorConstants.m
CircleAboutZ.m
Inputs:
- r - radius of the circle
drawBike.m
Inputs:
- x
- y
- z
- yaw
- roll
- steer
- p
lqr_BC_optimizer.m
plotMultipleControllersTogether.m
rhs.m
- currentState
- p
- K
- delta_offset
- phi_offset
runBicycleTest.m
Inputs:
- x0,y0 - intial location
- v0 - initial speed
- delta0 - intial steer angle
- phi0 - intial lean angle
- phi_dot0 - intial derivative of lean angle
- psi0 - intial yaw angle (heading)
- K - vector of gains (k1, k2, k3)
- delta_offset - either a scalar (a constant offset), or a vector of offsets (the bike will attempt to hit delta_offset(n) at the nth timestep
- numTimeSteps - the number of time steps to run the simulation for
- graph - 1= draws graph, 0 =does not
