Updated sampling times on motor commands

controls/model/loggingAnalysis/logAnalysis.m

@@ -32,10 +32,10 @@ yaw_command_model_data = yaw_command_model.signals.values(indices_40ms);
 yaw_value_model_data = yaw_value_model.signals.values(indices_40ms);
 
 % Pull duty cycle commands from model
-PWM0_model = motorCommands.signals.values(indices_40ms, 1);
-PWM1_model = motorCommands.signals.values(indices_40ms, 2);
-PWM2_model = motorCommands.signals.values(indices_40ms, 3);
-PWM3_model = motorCommands.signals.values(indices_40ms, 4);
+PWM0_model = motorCommands.signals.values(indices_5ms, 1);
+PWM1_model = motorCommands.signals.values(indices_5ms, 2);
+PWM2_model = motorCommands.signals.values(indices_5ms, 3);
+PWM3_model = motorCommands.signals.values(indices_5ms, 4);
 
 %% Plot x control structure
 
@@ -165,7 +165,7 @@ legend('Log', 'Model', 'location', 'northwest');
 %% Plot PWM Commands
 figure(5); subplot(2, 2, 1);
 stairs(time, PWM0,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM0_model, '.-'); hold off;
+stairs(time_model_5ms, PWM0_model, '.-'); hold off;
 title('PWM0 Value');
 xlabel('Time (s)');
 ylabel('PWM0 Command');
@@ -173,7 +173,7 @@ legend('Log', 'Model', 'location', 'northwest');
 
 subplot(2, 2, 2);
 stairs(time, PWM1,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM1_model, '.-'); hold off;
+stairs(time_model_5ms, PWM1_model, '.-'); hold off;
 title('PWM1 Value');
 xlabel('Time (s)');
 ylabel('PWM1 Command');
@@ -181,7 +181,7 @@ legend('Log', 'Model', 'location', 'northwest');
 
 subplot(2, 2, 3);
 stairs(time, PWM2,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM2_model, '.-'); hold off;
+stairs(time_model_5ms, PWM2_model, '.-'); hold off;
 title('PWM2 Value');
 xlabel('Time (s)');
 ylabel('PWM2 Command');
@@ -189,7 +189,7 @@ legend('Log', 'Model', 'location', 'northwest');
 
 subplot(2, 2, 4);
 stairs(time, PWM3,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM3_model, '.-'); hold off;
+stairs(time_model_5ms, PWM3_model, '.-'); hold off;
 title('PWM3 Value');
 xlabel('Time (s)');
 ylabel('PWM3 Command');