/*
 * File: NXTway_ET2012_data.c
 *
 * Code generated for Simulink model 'NXTway_ET2012'.
 *
 * Model version                  : 1.617
 * Simulink Coder version         : 8.2 (R2012a) 29-Dec-2011
 * TLC version                    : 8.2 (Dec 29 2011)
 * C/C++ source code generated on : Mon Apr 16 09:34:27 2012
 *
 * Target selection: realtime.tlc
 * Embedded hardware selection: ARM Compatible->ARM 7
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "NXTway_ET2012.h"
#include "NXTway_ET2012_private.h"

/* Block parameters (auto storage) */
Parameters_NXTway_ET2012 NXTway_ET2012_P = {
  0.625F,                              /* Computed Parameter: Constant_Value
                                        * Referenced by: '<S16>/Constant'
                                        */
  0.001089F,                           /* Computed Parameter: Gain3_Gain
                                        * Referenced by: '<S16>/Gain3'
                                        */
  0.0F,                                /* Computed Parameter: UnitDelay_X0
                                        * Referenced by: '<S15>/Unit Delay'
                                        */
  -0.4472F,                            /* Computed Parameter: IntegralGain_Gain
                                        * Referenced by: '<S11>/Integral Gain'
                                        */
  0.0F,                                /* Computed Parameter: UnitDelay_X0_g
                                        * Referenced by: '<S17>/Unit Delay'
                                        */
  0.0F,                                /* Computed Parameter: Constant2_Value
                                        * Referenced by: '<S13>/Constant2'
                                        */
  7.5F,                                /* Computed Parameter: Gain1_Gain
                                        * Referenced by: '<S13>/Gain1'
                                        */
  0.004F,                              /* Computed Parameter: Gain3_Gain_a
                                        * Referenced by: '<S18>/Gain3'
                                        */
  0.0F,                                /* Computed Parameter: UnitDelay_X0_m
                                        * Referenced by: '<S18>/Unit Delay'
                                        */
  0.996F,                              /* Computed Parameter: Gain2_Gain
                                        * Referenced by: '<S18>/Gain2'
                                        */
  0.0F,                                /* Computed Parameter: Constant3_Value
                                        * Referenced by: '<S13>/Constant3'
                                        */
  0.0174532924F,                       /* Computed Parameter: deg2rad_Gain
                                        * Referenced by: '<S14>/deg2rad'
                                        */
  0.0F,                                /* Computed Parameter: UnitDelay_X0_k
                                        * Referenced by: '<S20>/Unit Delay'
                                        */
  0.0174532924F,                       /* Computed Parameter: deg2rad1_Gain
                                        * Referenced by: '<S14>/deg2rad1'
                                        */
  0.5F,                                /* Computed Parameter: Gain_Gain
                                        * Referenced by: '<S14>/Gain'
                                        */
  0.2F,                                /* Computed Parameter: Gain3_Gain_g
                                        * Referenced by: '<S21>/Gain3'
                                        */
  0.0F,                                /* Computed Parameter: UnitDelay_X0_h
                                        * Referenced by: '<S21>/Unit Delay'
                                        */
  0.8F,                                /* Computed Parameter: Gain2_Gain_n
                                        * Referenced by: '<S21>/Gain2'
                                        */
  0.0F,                                /* Computed Parameter: UnitDelay_X0_l
                                        * Referenced by: '<S19>/Unit Delay'
                                        */
  250.0F,                              /* Computed Parameter: Gain_Gain_c
                                        * Referenced by: '<S19>/Gain'
                                        */
  0.0174532924F,                       /* Computed Parameter: deg2rad2_Gain
                                        * Referenced by: '<S14>/deg2rad2'
                                        */

  /*  Computed Parameter: FeedbackGain_Gain
   * Referenced by: '<S11>/Feedback Gain'
   */
  { -0.8351F, -34.1896F, -1.09947503F, -2.8141F },
  100.0F,                              /* Computed Parameter: Gain_Gain_a
                                        * Referenced by: '<S12>/Gain'
                                        */
  25.0F,                               /* Computed Parameter: Gain2_Gain_b
                                        * Referenced by: '<S13>/Gain2'
                                        */
  100.0F,                              /* Computed Parameter: Saturation_UpperSat
                                        * Referenced by: '<S12>/Saturation'
                                        */
  -100.0F,                             /* Computed Parameter: Saturation_LowerSat
                                        * Referenced by: '<S12>/Saturation'
                                        */
  100.0F,                              /* Computed Parameter: Saturation1_UpperSat
                                        * Referenced by: '<S12>/Saturation1'
                                        */
  -100.0F,                             /* Computed Parameter: Saturation1_LowerSat
                                        * Referenced by: '<S12>/Saturation1'
                                        */
  0.004F,                              /* Computed Parameter: Gain_Gain_i
                                        * Referenced by: '<S17>/Gain'
                                        */
  0.004F,                              /* Computed Parameter: Gain_Gain_h
                                        * Referenced by: '<S20>/Gain'
                                        */
  0.004F,                              /* Computed Parameter: Gain_Gain_f
                                        * Referenced by: '<S15>/Gain'
                                        */
  0.0F,                                /* Computed Parameter: DiscreteFilter_InitialStates
                                        * Referenced by: '<S6>/Discrete Filter'
                                        */
  0.2F,                                /* Computed Parameter: DiscreteFilter_NumCoef
                                        * Referenced by: '<S6>/Discrete Filter'
                                        */

  /*  Computed Parameter: DiscreteFilter_DenCoef
   * Referenced by: '<S6>/Discrete Filter'
   */
  { 1.0F, -0.8F },
  -50.0F,                              /* Computed Parameter: Turnleft_Value
                                        * Referenced by: '<S7>/Turn left'
                                        */
  50.0F,                               /* Computed Parameter: Turnright_Value
                                        * Referenced by: '<S7>/Turn right'
                                        */
  40.0F,                               /* Computed Parameter: ForwardSpeed_Value
                                        * Referenced by: '<S7>/Forward Speed'
                                        */
  2.5F,                                /* Computed Parameter: PGain_Gain
                                        * Referenced by: '<S10>/P Gain'
                                        */
  60.0F,                               /* Computed Parameter: Saturation_UpperSat_m
                                        * Referenced by: '<S10>/Saturation'
                                        */
  -60.0F,                              /* Computed Parameter: Saturation_LowerSat_c
                                        * Referenced by: '<S10>/Saturation'
                                        */
  110,                                 /* Computed Parameter: TailAngle_Y0
                                        * Referenced by: '<S9>/Tail Angle'
                                        */
  0,                                   /* Computed Parameter: TailAngleforDrive_Value
                                        * Referenced by: '<S9>/Tail Angle for Drive'
                                        */
  610,                                 /* Computed Parameter: GyroOffset_Value
                                        * Referenced by: '<S2>/Gyro Offset'
                                        */
  600U,                                /* Computed Parameter: LineEdge_Value
                                        * Referenced by: '<S7>/Line Edge'
                                        */
  100,                                 /* Computed Parameter: Constant6_Value
                                        * Referenced by: '<S13>/Constant6'
                                        */
  100,                                 /* Computed Parameter: Constant1_Value
                                        * Referenced by: '<S13>/Constant1'
                                        */
  0,                                   /* Computed Parameter: Balancerswitch_Y0
                                        * Referenced by: '<S9>/Balancer switch  '
                                        */
  1                                    /* Computed Parameter: ON_Value
                                        * Referenced by: '<S9>/ON'
                                        */
};

/* Constant parameters (auto storage) */
const ConstParam_NXTway_ET2012 NXTway_ET2012_ConstP = {
  /* Expression: lcdStr1
   * Referenced by: '<S22>/LCD'
   */
  { 71U, 121U, 114U, 111U, 58U, 0U },

  /* Expression: lcdStr1
   * Referenced by: '<S23>/LCD'
   */
  { 76U, 105U, 103U, 104U, 116U, 58U, 0U }
};

/*
 * File trailer for generated code.
 *
 * [EOF]
 */
