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Update part2 function to use MPC_Class

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- Update part2 deliverable function to use `MPC_Class`
- Clean-up some comments in `MPC_Class`
- Add MPC tunable parameters to `MPC_Class`
- Add TODO comments
This commit is contained in:
Sravan Balaji
2021-12-10 08:05:47 -05:00
parent b562360f6b
commit d16e25ca85
2 changed files with 47 additions and 22 deletions
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12
Deliverables/ROB535_ControlProject_part2_Team3.m
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@@ -34,8 +34,10 @@ function [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,X
%
% Written by: Sravan Balaji, Xenia Demenchuk, and Peter Pongsachai
% Created: 30 Nov 2021
Utemp = NaN(51,2);
Utemp(:,1) = 0 .* ones(51,1); % delta
Utemp(:,2) = 5000 .* ones(51,1); % F_x
FLAG_terminate = rand(1,1) > 0.9;
end
load('ROB535_ControlProject_part1_Team3.mat');
Y_ref = ROB535_ControlProject_part1_state;
U_ref = ROB535_ControlProject_part1_input;
obj = MPC_Class(TestTrack, Y_ref, U_ref);
[Utemp, FLAG_terminate] = obj.compute_inputs(Xobs_seen, curr_state);
end