pid and joints n stuff

dat/lkneeExample.m

@@ -9,9 +9,11 @@ t = [0, 1, 2, 3, 4];
 p = [0, -18, -45, -18, 0];
 
 % generate graph lines
-querypts = 0:1/16:4;
-interpts = interp1(t, p, querypts, 'spline');
+querypts = 0:0.001:4;
+interpts = interp1(t, p, querypts, 'spline')';
+
+lkneeExampleRet = [querypts', interpts];
 
 % create graph
-figure
-plot(t, p,'o', querypts, interpts, ':.');
+%figure
+%plot(t, p,'o', querypts, interpts, ':.');

slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/SlCache/1.0">
+  <slcache.FileAttributes type="slcache.FileAttributes" uuid="910f3108-d533-471a-a131-16dc57703e60">
+    <checksum>j3HpQct9ymkg/g59S2O+GrR+e8iwjmATeJDi4XofvX0d94OIhziPgrMuBEs6AemcgO2bvY3GjPh6vPlmJ5NN9A==</checksum>
+  </slcache.FileAttributes>
+</MF0>