1/*
2 * File: EV3Control_sil_sil_ec_data.c
3 *
4 * Code generated for Simulink model 'EV3Control_sil_sil_ec'.
5 *
6 * Model version : 1.2
7 * Simulink Coder version : 9.0 (R2018b) 24-May-2018
8 * C/C++ source code generated on : Tue Oct 29 09:31:45 2019
9 *
10 * Target selection: ert.tlc
11 * Embedded hardware selection: Intel->x86-64 (Windows64)
12 * Code generation objectives:
13 * 1. RAM efficiency
14 * 2. Execution efficiency
15 * 3. ROM efficiency
16 * Validation result: Not run
17 */
18
19#include "EV3Control_sil_sil_ec.h"
20
21/* Model block global parameters (default storage) */
22real_T rtP_CL_EST_STEER_ANGLE_RAD[4] = { -0.78539816339744828,
23 -0.39269908169872414, 0.39269908169872414, 0.78539816339744828 } ;/* Variable: CL_EST_STEER_ANGLE_RAD
24 * Referenced by: '<S41>/1-D Lookup Table'
25 */
26
27real_T rtP_CL_EST_STEER_ENC_DEG[4] = { -235.0, -150.0, 150.0, 235.0 } ;/* Variable: CL_EST_STEER_ENC_DEG
28 * Referenced by: '<S41>/1-D Lookup Table'
29 */
30
31real_T rtP_CTRL_TRK_LOOKAHEAD = 40.0; /* Variable: CTRL_TRK_LOOKAHEAD
32 * Referenced by:
33 * '<S67>/Constant1'
34 * '<S59>/Constant1'
35 */
36real_T rtP_CTRL_TRK_STEER_ANGLE_DEADZONE_RAD = 0.034906585039886591;/* Variable: CTRL_TRK_STEER_ANGLE_DEADZONE_RAD
37 * Referenced by:
38 * '<S45>/Constant'
39 * '<S45>/Constant1'
40 */
41real_T rtP_DEG2RAD = 0.017453292519943295;/* Variable: DEG2RAD
42 * Referenced by: '<S4>/deg2rad'
43 */
44real_T rtP_DIST_OBSTACLE_STOP = 15.0; /* Variable: DIST_OBSTACLE_STOP
45 * Referenced by: '<S5>/ObstacleDetection'
46 */
47real_T rtP_LATERAL_EVADE_INCREMENT = 100.0;/* Variable: LATERAL_EVADE_INCREMENT
48 * Referenced by: '<S72>/Constant2'
49 */
50real_T rtP_MOTOR_DRIVE_TRANSMISSION_RATIO = 0.45454545454545453;/* Variable: MOTOR_DRIVE_TRANSMISSION_RATIO
51 * Referenced by: '<S11>/GlobalPosition'
52 */
53real_T rtP_PATH_COORDS_XY[102] = { 100.0, 99.211470131447783, 96.858316112863108,
54 92.977648588825133, 87.630668004386365, 80.901699437494742, 72.896862742141153,
55 63.742398974868962, 53.582679497899655, 42.577929156507267, 30.901699437494745,
56 18.73813145857245, 6.27905195293133, -6.27905195293134, -18.738131458572482,
57 -30.901699437494756, -42.577929156507274, -53.58267949789969,
58 -63.742398974868976, -72.896862742141167, -80.901699437494727,
59 -87.630668004386365, -92.977648588825147, -96.858316112863108,
60 -99.211470131447783, -100.0, -99.211470131447783, -96.858316112863122,
61 -92.977648588825161, -87.630668004386365, -80.901699437494742,
62 -72.896862742141181, -63.742398974868955, -53.582679497899711,
63 -42.577929156507295, -30.901699437494756, -18.73813145857255,
64 -6.2790519529313205, 6.2790519529312832, 18.738131458572425,
65 30.901699437494724, 42.57792915650726, 53.582679497899676, 63.742398974868934,
66 72.896862742141124, 80.901699437494727, 87.630668004386365, 92.977648588825147,
67 96.8583161128631, 99.211470131447783, 100.0, 0.0, 12.434494358242741,
68 24.087683705085762, 34.227355296434439, 42.216396275100756, 47.552825814757682,
69 49.901336421413589, 49.114362536434435, 45.241352623300969, 38.525662138789464,
70 29.389262614623657, 18.406227634233886, 6.2666616782152049,
71 -6.2666616782152147, -18.406227634233915, -29.389262614623668,
72 -38.525662138789464, -45.24135262330099, -49.114362536434442,
73 -49.901336421413575, -47.552825814757682, -42.216396275100742,
74 -34.227355296434411, -24.087683705085766, -12.434494358242725,
75 -1.2246467991473532E-14, 12.4344943582427, 24.087683705085745,
76 34.227355296434389, 42.216396275100735, 47.552825814757668, 49.901336421413575,
77 49.114362536434435, 45.241352623301005, 38.525662138789478, 29.389262614623668,
78 18.406227634233979, 6.2666616782151952, -6.2666616782151578,
79 -18.406227634233861, -29.38926261462364, -38.525662138789457,
80 -45.241352623300983, -49.11436253643442, -49.901336421413575,
81 -47.552825814757689, -42.216396275100756, -34.227355296434425,
82 -24.087683705085816, -12.434494358242778, -2.4492935982947064E-14 } ;/* Variable: PATH_COORDS_XY
83 * Referenced by: '<S67>/Constant2'
84 */
85
86real_T rtP_REMOTE_DRIVE_REV = 8.0; /* Variable: REMOTE_DRIVE_REV
87 * Referenced by:
88 * '<S5>/ObstacleDetection'
89 * '<S9>/Chart'
90 */
91real_T rtP_REMOTE_STEER_LEFT = 2.0; /* Variable: REMOTE_STEER_LEFT
92 * Referenced by: '<S39>/Constant'
93 */
94real_T rtP_REMOTE_STEER_RIGHT = 4.0; /* Variable: REMOTE_STEER_RIGHT
95 * Referenced by: '<S39>/Constant1'
96 */
97real_T rtP_STEER_ANGLE_MAX_RAD = 0.78539816339744828;/* Variable: STEER_ANGLE_MAX_RAD
98 * Referenced by: '<S43>/Saturation'
99 */
100real_T rtP_STEER_ANGLE_MIN_RAD = -0.78539816339744828;/* Variable: STEER_ANGLE_MIN_RAD
101 * Referenced by: '<S43>/Saturation'
102 */
103real_T rtP_WHEEL_BASE = 30.0; /* Variable: WHEEL_BASE
104 * Referenced by: '<S59>/Constant2'
105 */
106real_T rtP_WHEEL_SIZE_DEG = 0.06; /* Variable: WHEEL_SIZE_DEG
107 * Referenced by: '<S11>/GlobalPosition'
108 */
109boolean_T rtP_CTRL_TRK_METHOD = 1; /* Variable: CTRL_TRK_METHOD
110 * Referenced by: '<S43>/Constant1'
111 */
112int8_T rtP_MOTOR_DRIVE_DEFAULT_FWD = 60;/* Variable: MOTOR_DRIVE_DEFAULT_FWD
113 * Referenced by: '<S91>/Constant1'
114 */
115int8_T rtP_MOTOR_DRIVE_DEFAULT_REV = -45;/* Variable: MOTOR_DRIVE_DEFAULT_REV
116 * Referenced by: '<S91>/Constant2'
117 */
118int8_T rtP_MOTOR_DRIVE_MAX = 100; /* Variable: MOTOR_DRIVE_MAX
119 * Referenced by: '<S21>/Saturation'
120 */
121int8_T rtP_MOTOR_DRIVE_MIN = -100; /* Variable: MOTOR_DRIVE_MIN
122 * Referenced by: '<S21>/Saturation'
123 */
124int8_T rtP_MOTOR_STEER_AUTO_LEFT = 60; /* Variable: MOTOR_STEER_AUTO_LEFT
125 * Referenced by: '<S77>/Constant2'
126 */
127int8_T rtP_MOTOR_STEER_AUTO_RIGHT = -60;/* Variable: MOTOR_STEER_AUTO_RIGHT
128 * Referenced by: '<S78>/Constant2'
129 */
130int8_T rtP_MOTOR_STEER_MANUAL_LEFT = 50;/* Variable: MOTOR_STEER_MANUAL_LEFT
131 * Referenced by: '<S86>/Constant2'
132 */
133int8_T rtP_MOTOR_STEER_MANUAL_RIGHT = -50;/* Variable: MOTOR_STEER_MANUAL_RIGHT
134 * Referenced by: '<S87>/Constant2'
135 */
136int8_T rtP_MOTOR_STEER_MAX = 100; /* Variable: MOTOR_STEER_MAX
137 * Referenced by: '<S39>/Saturation'
138 */
139int8_T rtP_MOTOR_STEER_MIN = -100; /* Variable: MOTOR_STEER_MIN
140 * Referenced by: '<S39>/Saturation'
141 */
142int8_T rtP_REMOTE_DRIVE_AUTO_OFF = 11; /* Variable: REMOTE_DRIVE_AUTO_OFF
143 * Referenced by: '<S9>/Chart'
144 */
145int8_T rtP_REMOTE_DRIVE_AUTO_ON = 10; /* Variable: REMOTE_DRIVE_AUTO_ON
146 * Referenced by: '<S9>/Chart'
147 */
148int8_T rtP_REMOTE_DRIVE_FWD = 5; /* Variable: REMOTE_DRIVE_FWD
149 * Referenced by: '<S9>/Chart'
150 */
151int8_T rtP_REMOTE_START = 1; /* Variable: REMOTE_START
152 * Referenced by: '<S9>/Chart'
153 */
154int8_T rtP_REMOTE_STOP = 3; /* Variable: REMOTE_STOP
155 * Referenced by: '<S9>/Chart'
156 */
157uint8_T rtP_DIST_OBSTACLE_EVADE = 40U; /* Variable: DIST_OBSTACLE_EVADE
158 * Referenced by: '<S5>/ObstacleDetection'
159 */
160uint8_T rtP_STATUS_LIGHT_DEFAULT = 1U; /* Variable: STATUS_LIGHT_DEFAULT
161 * Referenced by: '<S19>/Constant2'
162 */
163uint8_T rtP_STATUS_LIGHT_EMERGENCY_STOP = 2U;/* Variable: STATUS_LIGHT_EMERGENCY_STOP
164 * Referenced by:
165 * '<S2>/Constant3'
166 * '<S19>/Constant4'
167 */
168uint8_T rtP_STATUS_LIGHT_IDLE = 1U; /* Variable: STATUS_LIGHT_IDLE
169 * Referenced by: '<S19>/Constant3'
170 */
171uint8_T rtP_STATUS_LIGHT_OBSTACLE_DETECTED = 6U;/* Variable: STATUS_LIGHT_OBSTACLE_DETECTED
172 * Referenced by: '<S19>/Constant1'
173 */
174uint8_T rtP_STATUS_LIGHT_VEHICLE_CTRL_OFF = 2U;/* Variable: STATUS_LIGHT_VEHICLE_CTRL_OFF
175 * Referenced by: '<S19>/Constant5'
176 */
177
178/* Block parameters (default storage) */
179P_EV3Control_sil_sil_ec_T EV3Control_sil_sil_ec_P = {
180 /* Expression: 0
181 * Referenced by: '<S50>/steeringAngleCmd'
182 */
183 0.0,
184
185 /* Expression: 2
186 * Referenced by: '<S59>/Gain'
187 */
188 2.0,
189
190 /* Expression: 0
191 * Referenced by: '<S47>/steeringAngleCmd'
192 */
193 0.0,
194
195 /* Expression: 0
196 * Referenced by: '<S49>/steeringAngleCmd'
197 */
198 0.0,
199
200 /* Expression: 0
201 * Referenced by: '<S49>/Constant'
202 */
203 0.0,
204
205 /* Expression: 0
206 * Referenced by: '<S72>/goalPointAdapted'
207 */
208 0.0,
209
210 /* Expression: 0
211 * Referenced by: '<S74>/goalPointGlobal'
212 */
213 0.0,
214
215 /* Expression: 1
216 * Referenced by: '<S74>/Gain'
217 */
218 1.0,
219
220 /* Expression: 0
221 * Referenced by: '<S38>/steeringAngleCmdRad'
222 */
223 0.0,
224
225 /* Expression: 0
226 * Referenced by: '<S69>/Merge'
227 */
228 0.0,
229
230 /* Expression: 0
231 * Referenced by: '<S43>/Merge'
232 */
233 0.0,
234
235 /* Expression: -1
236 * Referenced by: '<S45>/Gain'
237 */
238 -1.0,
239
240 /* Expression: 1
241 * Referenced by: '<S45>/Gain1'
242 */
243 1.0,
244
245 /* Expression: 0
246 * Referenced by: '<S94>/Constant'
247 */
248 0.0,
249
250 /* Expression: 0
251 * Referenced by: '<S8>/Unit Delay'
252 */
253 0.0,
254
255 /* Expression: 0
256 * Referenced by: '<S8>/Unit Delay1'
257 */
258 0.0,
259
260 /* Expression: 0
261 * Referenced by: '<S8>/Unit Delay2'
262 */
263 0.0,
264
265 /* Expression: 0
266 * Referenced by: '<S2>/Constant2'
267 */
268 0.0,
269
270 /* Expression: 440
271 * Referenced by: '<S17>/Constant2'
272 */
273 440.0,
274
275 /* Expression: 0
276 * Referenced by: '<S17>/Constant3'
277 */
278 0.0,
279
280 /* Expression: 0
281 * Referenced by: '<S17>/Constant1'
282 */
283 0.0,
284
285 /* Expression: 0
286 * Referenced by: '<S17>/Merge'
287 */
288 0.0,
289
290 /* Expression: 0
291 * Referenced by: '<S17>/Merge'
292 */
293 0.0,
294
295 /* Computed Parameter: Gain1_Gain_a
296 * Referenced by: '<S4>/Gain1'
297 */
298 1073741824,
299
300 /* Computed Parameter: Gain_Gain_a
301 * Referenced by: '<S4>/Gain'
302 */
303 1073741824,
304
305 /* Computed Parameter: LightStop_Y0
306 * Referenced by: '<S30>/LightStop'
307 */
308 0U,
309
310 /* Computed Parameter: obstacleLight_Y0
311 * Referenced by: '<S32>/obstacleLight'
312 */
313 0U,
314
315 /* Computed Parameter: lightIdle_Y0
316 * Referenced by: '<S31>/lightIdle'
317 */
318 0U,
319
320 /* Computed Parameter: OffLight_Y0
321 * Referenced by: '<S28>/OffLight'
322 */
323 0U,
324
325 /* Computed Parameter: lightDefault_Y0
326 * Referenced by: '<S29>/lightDefault'
327 */
328 0U,
329
330 /* Computed Parameter: Merge_InitialOutput_i
331 * Referenced by: '<S19>/Merge'
332 */
333 0U,
334
335 /* Computed Parameter: steerLeft_Y0
336 * Referenced by: '<S77>/steerLeft'
337 */
338 0,
339
340 /* Computed Parameter: steerRight_Y0
341 * Referenced by: '<S78>/steerRight'
342 */
343 0,
344
345 /* Computed Parameter: NoSteer_Y0
346 * Referenced by: '<S80>/NoSteer'
347 */
348 0,
349
350 /* Computed Parameter: Constant2_Value_n
351 * Referenced by: '<S80>/Constant2'
352 */
353 0,
354
355 /* Computed Parameter: steeringMotor_Y0
356 * Referenced by: '<S38>/steeringMotor'
357 */
358 0,
359
360 /* Computed Parameter: Merge_InitialOutput_l
361 * Referenced by: '<S45>/Merge'
362 */
363 0,
364
365 /* Computed Parameter: noSteer_Y0
366 * Referenced by: '<S85>/noSteer'
367 */
368 0,
369
370 /* Computed Parameter: Constant2_Value_h
371 * Referenced by: '<S85>/Constant2'
372 */
373 0,
374
375 /* Computed Parameter: steerLeft_Y0_f
376 * Referenced by: '<S86>/steerLeft'
377 */
378 0,
379
380 /* Computed Parameter: steerRight_Y0_m
381 * Referenced by: '<S87>/steerRight'
382 */
383 0,
384
385 /* Computed Parameter: steeringMotor_Y0_n
386 * Referenced by: '<S39>/steeringMotor'
387 */
388 0,
389
390 /* Computed Parameter: Constant2_Value_kp
391 * Referenced by: '<S39>/Constant2'
392 */
393 0,
394
395 /* Computed Parameter: Merge_InitialOutput_m
396 * Referenced by: '<S39>/Merge'
397 */
398 0,
399
400 /* Computed Parameter: driveMotor_Y0
401 * Referenced by: '<S91>/driveMotor'
402 */
403 0,
404
405 /* Computed Parameter: driveMotor_Y0_e
406 * Referenced by: '<S93>/driveMotor'
407 */
408 0,
409
410 /* Computed Parameter: Constant1_Value_c
411 * Referenced by: '<S93>/Constant1'
412 */
413 0,
414
415 /* Computed Parameter: UnitDelay_InitialCondition_f
416 * Referenced by: '<S14>/Unit Delay'
417 */
418 0,
419
420 /* Computed Parameter: Constant_Value_k
421 * Referenced by: '<S8>/Constant'
422 */
423 0,
424
425 /* Computed Parameter: Constant_Value_a
426 * Referenced by: '<S2>/Constant'
427 */
428 0,
429
430 /* Computed Parameter: Merge_InitialOutput_h
431 * Referenced by: '<S21>/Merge'
432 */
433 0,
434
435 /* Computed Parameter: Constant1_Value_g
436 * Referenced by: '<S2>/Constant1'
437 */
438 0,
439
440 /* Computed Parameter: Merge_InitialOutput_e
441 * Referenced by: '<S20>/Merge'
442 */
443 0,
444
445 /* Computed Parameter: Gain5_Gain
446 * Referenced by: '<S4>/Gain5'
447 */
448 64,
449
450 /* Computed Parameter: Gain_Gain_j
451 * Referenced by: '<S30>/Gain'
452 */
453 128U,
454
455 /* Computed Parameter: Gain_Gain_b
456 * Referenced by: '<S32>/Gain'
457 */
458 128U,
459
460 /* Computed Parameter: Gain_Gain_ke
461 * Referenced by: '<S31>/Gain'
462 */
463 128U,
464
465 /* Computed Parameter: Gain_Gain_d
466 * Referenced by: '<S28>/Gain'
467 */
468 128U,
469
470 /* Computed Parameter: Gain_Gain_n
471 * Referenced by: '<S29>/Gain'
472 */
473 128U,
474
475 /* Computed Parameter: Gain2_Gain
476 * Referenced by: '<S4>/Gain2'
477 */
478 128U,
479
480 /* Computed Parameter: Gain3_Gain
481 * Referenced by: '<S4>/Gain3'
482 */
483 128U,
484
485 /* Computed Parameter: Gain4_Gain
486 * Referenced by: '<S4>/Gain4'
487 */
488 128U,
489
490 /* Start of '<S17>/DoNotHonk' */
491 {
492 /* Expression: 0
493 * Referenced by: '<S22>/speaker'
494 */
495 0.0
496 }
497 ,
498
499 /* End of '<S17>/DoNotHonk' */
500
501 /* Start of '<S17>/HonkIfObstacleDetected' */
502 {
503 /* Expression: 0
504 * Referenced by: '<S23>/speaker'
505 */
506 0.0
507 }
508 /* End of '<S17>/HonkIfObstacleDetected' */
509};
510
511/*
512 * File trailer for generated code.
513 *
514 * [EOF]
515 */
516