close all
clear all
clear globals; 

p = PID_Shim; p.Configure;


dt = 0.01;
tf = 2;  %seconds

N = tf/dt;

t = NaN(N,1);
I = NaN(N,3);

I(1,3) = 0;

i = 1;
t(1) = 0;
curr_time = 0;
tic;
while(curr_time < tf)    
curr_time = toc;
  if(curr_time-t(i) >= dt)    
    i = i+1;
    t(i) = curr_time;

    I(i,1) = It(curr_time);   %Get prescribed values for It
    I(i,2) = Ic(curr_time);   %Get prescribed values for It

    I(i,3) = I(i-1,3);        %Estimate Id from last time-step.
    
                              %Compute Dump Current
    %[a b c] = PID(It,Ic,Ir);           %(Compute in Matlab)
    [inv ctrl clipped] = p.Test(rectified, converted, target) 
    
    %[a b c] = p.test(It,Ic,Ir);        %(or let the hardware do it)
                             
    
    
  end
end


figure
plot(t,I)
legend('Itarget','IConv');
xlabel('time (s)');
ylabel('Amps');