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Commit 36853d24 authored by Andy Snawerdt's avatar Andy Snawerdt
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Added comments and updated function calls

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% Add path to zeroLoadCurrent() function
addpath('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\MATLAB\zeroLoadCurrent')
% Import data as a table.
data = readtable('C:\Users\Andy\Documents\MATLAB\MicroCART\Thrust and Drag Constant\Thrust and Drag Constant Data.xlsx');
filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\MATLAB\MicroCART\Zero Load Current\No Load Friction Current.csv';
[I_0, I_1, I_2] = zero_load_current(filePath_noLoadCurrentData);
[I_0, I_1, I_2] = zeroLoadCurrent(filePath_noLoadCurrentData);
rotor_speed_0 = data.(2) * (pi/30);
rotor_speed_1 = data.(3) * (pi/30);
......@@ -23,8 +26,8 @@ If3 = I_0 * sign(rotor_speed_3) + I_1 * rotor_speed_3 + I_2 * rotor_speed_3.^2;
If = [If0; If1; If2; If3];
% Call the calc_thrust_constant() function.
Kt = calc_thrust_constant(data);
Kt = calcThrustConstant(data);
% Call the calc_drift_constant() function.
Kd = calc_drag_constant(data, Pmin, Pmax, Rm, Kv, Kq, If );
Kd = calcDragConstant(data, Pmin, Pmax, Rm, Kv, Kq, If );
% Read in data
data = readtable('C:\Users\Andy\Documents\MATLAB\MicroCART\Thrust and Drag Constant\Thrust and Drag Constant Data.xlsx');
filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\MATLAB\MicroCART\Zero Load Current\No Load Friction Current.csv';
[I_0, I_1, I_2, dutyCycle_error, error, residual_error, residual_error_withIfConstant] = zero_load_current(filePath_noLoadCurrentData);
[I_0, I_1, I_2, dutyCycle_error, error, residual_error, residual_error_ConstantIf] = zeroLoadCurrent(filePath_noLoadCurrentData);
Pmin = 0.40;
Pmax = 0.8;
Rm = 0.2308;
Kv = 96.3422;
Kq = 96.3422;
If = 0.44;
% Convert RPM to angular speed of each rotor.
rotor_speed_0 = data.(2) * (pi/30);
......@@ -31,18 +31,13 @@ figure()
hold on
plot(duty_cycle_percentage, w); grid()
plot(duty_cycle_percentage, rotor_speed_0);
plot(duty_cycle_percentage, rotor_speed_1);
plot(duty_cycle_percentage, rotor_speed_2);
plot(duty_cycle_percentage, rotor_speed_3);
%plot(duty_cycle_percentage, rotor_speed_1);
%plot(duty_cycle_percentage, rotor_speed_2);
%plot(duty_cycle_percentage, rotor_speed_3);
xlabel('Duty Cycle Percentage');
ylabel('Rotor Speed (rad/s)')
figure()
plot(dutyCycle_error, error); grid()
xlabel('Duty Cycle Percentage');
ylabel('Error');
residual_error
residual_error_withIfConstant
\ No newline at end of file
residual_error_ConstantIf
\ No newline at end of file
function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_withIfConstant] = zeroLoadCurrent(absoluteFilePath)
function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_constantIf] = zeroLoadCurrent(absoluteFilePath)
%This function takes in an absolute file path to a .csv or Excel file with
%the following format:
% Second column should be the motor speed in revolutions per minute
......@@ -48,10 +48,10 @@ function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_withIf
If_constant = 0.511;
error_withIfConstant = A*[If_constant; 0; 0] - b;
%Get the residual (?)
%Get the residual error
residual_error = sum(error.^2);
residual_error_withIfConstant = sum(error_withIfConstant.^2);
residual_error_constantIf = sum(error_withIfConstant.^2);
%Extract the components of the vector
I_0 = I_vector(1);
......
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