Added simulink file and matlab scripts

linear_pendulum_2009/avr/compileUploadCurrentControl.sh

-avr-gcc -mmcu=atmega16 -g -Wall -o current_control current_control.c
-avr-objcopy -Osrec current_control current_control.sr
+avr-gcc -mmcu=atmega16 -g -Wall -o current_control.o current_control.c
+avr-objcopy -Osrec current_control.o current_control.sr
 uisp -dprog=stk200 --erase --upload if=current_control.sr
\ No newline at end of file

linear_pendulum_2009/avr/compileUploadVelControl.sh

-avr-gcc -mmcu=atmega16 -O -g -Wall -o vel_control vel_control.c pccom.c
-avr-objcopy -Osrec vel_control vel_control.sr
+avr-gcc -mmcu=atmega16 -O -g -Wall -o vel_control.o vel_control.c pccom.c
+avr-objcopy -Osrec vel_control.o vel_control.sr
 uisp -dprog=stk200 --erase --upload if=vel_control.sr
\ No newline at end of file

linear_pendulum_2009/avr/vel_control.c

+/***************************************************************
+
+ Current regulation - Pontus Giselsson, Per-Ola Larsson 18/02/09
+           for LTH - reglerteknik
+
+/***************************************************************
+
 #include <avr/twi.h>
 #include <avr/io.h>
 #include <avr/signal.h>
@@ -136,8 +143,6 @@ SIGNAL(SIG_OUTPUT_COMPARE0) {
 
   sei(); // enable interrupts from encoder-counter
   
-  
-
   // Poll UART receiver
   uint8_t status = UCSRA;
   if (status & (1<<RXC)) {
@@ -155,8 +160,6 @@ SIGNAL(SIG_OUTPUT_COMPARE0) {
     if (toSend >= 0) UDR = (char)toSend;
   }
 
-  
-
   TIFR = (1<<OCF0);        // skip pending interrupts from serial comm, (but not from ctrl)
 
   TIMSK |= (BV(OCIE0)|BV(OCIE1A)); // reenable communication and ctrl-interrupts
@@ -183,7 +186,6 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
   // ref = ref*(1-brake); // emergency stop
   sei();
 
-
   // control error
   e = refCtrl-((velEst+16)>>5);  // mm/s
 
@@ -225,15 +227,11 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
   sei();
 
 
-
   // TWI-communication to set current reference on the other atmel
   // send start command
   outp(BV(TWINT)|BV(TWEN)|BV(TWSTA),TWCR);
-
   while (!(TWCR&BV(TWINT))) {}
     
-
-
   // Contact slave  
   outp(0x02,TWDR);  // slave is 0x02 (sla+w)
   outp(BV(TWINT)|BV(TWEN),TWCR);
@@ -260,7 +258,6 @@ int main()
   PORTD = 0x40;  // pull up on reset switch
 
 
-
   /* Timer section */
   // Enable timer0, timer1, timer2 compare match interrupts
   outp(BV(OCIE0)|BV(OCIE1A)|BV(OCIE2),TIMSK);
@@ -296,8 +293,7 @@ int main()
   outp(0x18, UCSRB);	// USART: RxEnable|TxEnable
   outp(0x86, UCSRC);	// USART: 8bit, no parity
   outp(0x00, UBRRH);	// USART: 115200 @ 14.7456MHz
-  outp(7,UBRRL);	// USART: 115200 @ 14.7456MHz
-  
+  outp(7,UBRRL);	// USART: 115200 @ 14.7456MHz 
   
   
   /* AREF (AREF is 5V) pin external capacitor, ADC3 for pendulum angle */