MATLAB.m

classdef DPT_Feedback_Discrete_deployableCore < handle

    properties
        params    % Tunable parameters (editable from the testbench)
        signals   % Signal storage (readable from the testbench)
        inputs    % External inputs (set before execute_blocks; input gates copy these in)
        state     % Internal block state
    end

    methods

        function obj = DPT_Feedback_Discrete_deployableCore()

            % --- Tunable Parameters ---
            obj.params = struct();
            % blk2: ICore Blocks/Home/DPT_Feedback_Discrete/Ctrl_Gain
            obj.params.blk2_gain = [1.8];

            % --- Signal Storage ---
            obj.signals = struct();
            % sig0: ICore Blocks/Home/DPT_Feedback_Discrete/In1/ICoreDouble-Out-0
            obj.signals.sig0 = zeros(1, 1);
            % sig1: ICore Blocks/Home/DPT_Feedback_Discrete/Error/ICoreDouble-Out-0
            obj.signals.sig1 = zeros(1, 1);
            % sig2: ICore Blocks/Home/DPT_Feedback_Discrete/Ctrl_Gain/ICoreDouble-Out-0
            obj.signals.sig2 = zeros(1, 1);
            % sig3: ICore Blocks/Home/DPT_Feedback_Discrete/Plant/ICoreDouble-Out-0
            obj.signals.sig3 = zeros(1, 1);
            % sig4 (boundary output): ICore Blocks/Home/DPT_Feedback_Discrete/ICoreDouble-Out-0
            obj.signals.sig4 = zeros(1, 1);

            % --- External Inputs ---
            obj.inputs = struct();
            obj.inputs.sig0 = zeros(1, 1);

            % --- Internal Block State ---
            obj.state = struct();
        end

        function execute_blocks(obj)

            % Execution order generated automatically from block diagram
            % blk0: ICore Blocks/Home/DPT_Feedback_Discrete/In1
            obj.blk0_solve();
            % blk1: ICore Blocks/Home/DPT_Feedback_Discrete/Error
            obj.blk1_solve();
            % blk2: ICore Blocks/Home/DPT_Feedback_Discrete/Ctrl_Gain
            obj.blk2_solve();
            % blk3: ICore Blocks/Home/DPT_Feedback_Discrete/Plant
            obj.blk3_solve();
            % blk4: ICore Blocks/Home/DPT_Feedback_Discrete/Out1
            obj.blk4_solve();
        end

        function blk0_solve(obj)

            obj.signals.sig0 = obj.inputs.sig0;
        end

        function blk1_solve(obj)

            output = zeros(1, 1);
            output = output + obj.signals.sig0;
            output = output - obj.signals.sig3;
            obj.signals.sig1 = output;
        end

        function blk2_solve(obj)

            gain = obj.params.blk2_gain;
            input = obj.signals.sig1;
            output = input * gain(1, 1);
            obj.signals.sig2 = output;
        end

        function blk3_solve(obj)

            num = [0, 0.40000000000000002];
            den = [-0.59999999999999998];
            if ~isfield(obj.state, 'blk3_u_hist')
                obj.state.blk3_u_hist = zeros(1, 1, 2);
                obj.state.blk3_y_hist = zeros(1, 1, 1);
            end
            u = obj.signals.sig2;
            out = zeros(1, 1);
            for r = 1:1
                for c = 1:1
                    uk = u(r, c);
                    obj.state.blk3_u_hist(r, c, 2:2) = obj.state.blk3_u_hist(r, c, 1:1);
                    obj.state.blk3_u_hist(r, c, 1) = uk;
                    yk = 0;
                    for i = 1:2
                        yk = yk + num(i) * obj.state.blk3_u_hist(r, c, i);
                    end
                    for i = 1:1
                        yk = yk - den(i) * obj.state.blk3_y_hist(r, c, i);
                    end
                    obj.state.blk3_y_hist(r, c, 1) = yk;
                    out(r, c) = yk;
                end
            end
            obj.signals.sig3 = out;
        end

        function blk4_solve(obj)

            obj.signals.sig4 = obj.signals.sig3;
        end

    end
end