- cleaned up

git-svn-id: http://moon:8086/svn/projects/HendiControl@126 fda53097-d464-4ada-af97-ba876c37ca34

matlab/brew_eval.m

@@ -46,7 +46,6 @@ theta_ist = params.theta_amb;
 theta_last = params.theta_amb;
 thetas = varargin{nargin}
 heatRate = 0;
-heatRate_f = 0;
 heatRateMeasureInterval = 1.0; % seconds
 heatRateMeasureCount = 0; % seconds
 n = 0;
@@ -54,15 +53,6 @@ nSteps = params.P_max / params.P_q;
 
 N = 2*fix(length(thetas)*params.T/params.dt);
 
-maz = 7;
-lp_N = 5;
-[lp_b, lp_a] = butter (lp_N-1, 0.25);
-lp_z = zeros(1, length(lp_b)-1);
-
-lp_rate_N = 17;
-[lp_rate_b, lp_rate_a] = butter (lp_rate_N-1, 0.125);
-lp_rate_z = zeros(1, length(lp_rate_b)-1);
-
 P_cont = 0;
 y_rate = 0;
 y = 0;
@@ -178,10 +168,9 @@ for k=1:length(thetas)
 			theta_last = theta_ist;
 		end	
 		heatRateMeasureCount = heatRateMeasureCount - params.dt;
-		[heatRate_f, lp_rate_z] = filter(lp_rate_b, lp_rate_a, heatRate, lp_rate_z);
 		n = n + 1;
 		theta_ist = theta_ist;
-		heatRate_(n) = heatRate_f;
+		heatRate_(n) = heatRate;
 		theta_(n) = theta_ist;
 		err_(n) = err0_hold;
 		p_(n) = P;
@@ -235,38 +224,12 @@ s.e = s.e + s.x;
 theta = s.e/(M*C);
 endfunction
 
-function [y, y_clamped, s] = pid(si, kp, ki, kd, kleak, x)
-s = si;
-if ~isstruct(si)
-	s = struct('p', 0, 'i', 0, 'd', 0, 'x', 0, 'y_min', -0.0, 'y_max', 1.0, 'diff_aw', 0.0);
-end
-
-s.d = kd*(x - s.x);
-s.i = kleak*s.i + ki*x + s.diff_aw;
-s.p = kp*x;
-s.x = x;
-
-y = s.p + s.i + s.d;
-y_clamped = max(s.y_min, min(s.y_max, y));
-
-if (y < s.y_min)
-	s.diff_aw = abs(y - s.y_min);
-end
-
-if (y > s.y_max)
-	s.diff_aw = -abs(y - s.y_max);
-end
-
-
-endfunction
-
 function [y, z] = isStable(zi, v, maxErr)
 z = zi;
 if ~isstruct(zi)
 	z = struct('v', 0, 'cnt', 3, 'cnt_reload', 3);
 end
 
-
 if z.cnt > 0
 	z.cnt = z.cnt - 1;
 endif