main has the most updated version of the raw ACS dev files generated by Auto-Code
libs is the Ready-To-Use ACS Libraries with cleaned/corrected files from the raw libs generated by Auto-Code
with-ekf is a feature branch with Sam developed Extended Kalman Filter for IMU noises (Merged with main)
The LEGACY folder contains all the previous MATLAB/SIMULINK files for storage purposes
And the production/development files are in the root dir of this repo
You can also find the auto-coded C++ code in the root, which is generated for Teensy 3.5 (ARM-Cortex M)
Davide's original code does not separate the plant and the starshot controller. In order to adapt the code to our microcontroller application. We separated his code to the previously mentioned two blocks.
Plants
Plantv5: a modified version of the original version, with different math blocks. (less power consumption?)
Plant_OG: a direct migration of Davide's code.
starshot_sim.slx is Davide's original version. Which uses the cont. time derivative in starshot
In order to use discrete-time derivatives, we shall use a fix-step setting instead of a variable-step.
Some, if not all, the StarshotACS blocks seem to scale Kp in with Izp, making the input Kp ~500 times smaller.