Project_WIPV_antiSlip / STATE_FEEDBACK_INTEGRAL

Fork of STATE_FEEDBACK_INTEGRAL by Project_WIPV_antiSlip

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Revision 1:f19909200517, committed 2017-02-07

Comitter:
benson516
Date:
Tue Feb 07 09:53:58 2017 +0000
Parent:
0:37e27f2930a3
Commit message:
test succeed

Changed in this revision

STATE_FEEDBACK_INTEGRAL.cpp Show annotated file Show diff for this revision Revisions of this file
STATE_FEEDBACK_INTEGRAL.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 37e27f2930a3 -r f19909200517 STATE_FEEDBACK_INTEGRAL.cpp
--- a/STATE_FEEDBACK_INTEGRAL.cpp	Tue Jan 03 14:58:57 2017 +0000
+++ b/STATE_FEEDBACK_INTEGRAL.cpp	Tue Feb 07 09:53:58 2017 +0000
@@ -27,7 +27,6 @@
     sys_outputs = zeros_q;
 
     // Command (equalibrium state)
-    sys_inputs_compensate = zeros_p;
     command = zeros_q; // q = p
 
     // Integral state

diff -r 37e27f2930a3 -r f19909200517 STATE_FEEDBACK_INTEGRAL.h
--- a/STATE_FEEDBACK_INTEGRAL.h	Tue Jan 03 14:58:57 2017 +0000
+++ b/STATE_FEEDBACK_INTEGRAL.h	Tue Feb 07 09:53:58 2017 +0000
@@ -26,7 +26,6 @@
     vector<float> sys_inputs; // The inputs of the plant, "u", the "output" of the controller
     vector<float> sys_outputs; // The output of the plant, "y", the input of the controller
     // Command (equalibrium state)
-    vector<float> sys_inputs_compensate; // N_total*r
     vector<float> command; // r
     // Integral state
     vector<float> state_int; // x_i