statemachine.lc 598 Bytes
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// inputs to controller block (outputs from JGrafchart)
sample double Cf[144];
sample double refs[48];
sample double quat_refs[16];
sample double ctrlpar[240];
sample double chains[120];
sample double chains_params[120];
sample double redund_weight[196];
sample double skillFinished[2];
sample double state;
sample double detuning[2];

// outputs from controller block (inputs to JGrafchart)
sample double y_meas[96];
sample double quats[16];
sample double y_d_dot0[12];
sample double skillToRun[2];
sample double runExtctrl[2];
sample double resetProgram[2];
sample double kinematicsConverged[2];