diff --git a/MATLAB/momentOfInertia/getAverageMomentOfInertia.m b/controls/MATLAB/momentOfInertia/getAverageMomentOfInertia.m
similarity index 100%
rename from MATLAB/momentOfInertia/getAverageMomentOfInertia.m
rename to controls/MATLAB/momentOfInertia/getAverageMomentOfInertia.m
diff --git a/MATLAB/momentOfInertia/getMomentOfInertia.m b/controls/MATLAB/momentOfInertia/getMomentOfInertia.m
similarity index 100%
rename from MATLAB/momentOfInertia/getMomentOfInertia.m
rename to controls/MATLAB/momentOfInertia/getMomentOfInertia.m
diff --git a/MATLAB/momentOfInertia/getMomentOfInertiaFinalData.m b/controls/MATLAB/momentOfInertia/getMomentOfInertiaFinalData.m
similarity index 100%
rename from MATLAB/momentOfInertia/getMomentOfInertiaFinalData.m
rename to controls/MATLAB/momentOfInertia/getMomentOfInertiaFinalData.m
diff --git a/MATLAB/thrustAndDragConstant/calc_drag_constant.m b/controls/MATLAB/thrustAndDragConstant/calcDragConstant.m
similarity index 96%
rename from MATLAB/thrustAndDragConstant/calc_drag_constant.m
rename to controls/MATLAB/thrustAndDragConstant/calcDragConstant.m
index 53a7cc6b4ccef432358e58831223b90ad6125e7c..1a888d4f683e4fee08aba806366e258a91a1617e 100644
--- a/MATLAB/thrustAndDragConstant/calc_drag_constant.m
+++ b/controls/MATLAB/thrustAndDragConstant/calcDragConstant.m
@@ -1,4 +1,4 @@
-function [ Kd ] = calc_drag_constant( data, Pmin, Pmax, Rm, Kv, Kq, If )
+function [ Kd ] = calcDragConstant( data, Pmin, Pmax, Rm, Kv, Kq, If )
%CALC_DRAG_CONSTANT
% Calculates the drag constant (Kd) given experimental data. The drag
% constant is described in detail in sections 4.2.5, 4.2.6, and 5.5.4.1
diff --git a/MATLAB/thrustAndDragConstant/calc_thrust_constant.m b/controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m
similarity index 95%
rename from MATLAB/thrustAndDragConstant/calc_thrust_constant.m
rename to controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m
index 202b41eaafa54eec47d1237e9febcb7dca3db5fa..c69b9fe88f1fb5775e384733d3e4ffc02cac2208 100644
--- a/MATLAB/thrustAndDragConstant/calc_thrust_constant.m
+++ b/controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m
@@ -1,4 +1,4 @@
-function [ Kt ] = calc_thrust_constant( data )
+function [ Kt ] = calcThrustConstant( data )
%CALC_THRUST_CONSTANT
% Calculates the thrust constant (Kt) given experimental data. The thrust
% constant is described in detail in sections 4.2.1.1 and 5.5.1 of
diff --git a/MATLAB/thrustAndDragConstant/thrust_drag_constant_calculations.m b/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
similarity index 76%
rename from MATLAB/thrustAndDragConstant/thrust_drag_constant_calculations.m
rename to controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
index 1f8caf84b5df55c3bff5f34dd0bcab6f1ad14b66..1ef35479243d2f50a2f1e4b015a50bcff2650a3d 100644
--- a/MATLAB/thrustAndDragConstant/thrust_drag_constant_calculations.m
+++ b/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
@@ -1,9 +1,12 @@
+% 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 );
diff --git a/MATLAB/zeroLoadCurrent/Kd_error.m b/controls/MATLAB/zeroLoadCurrent/Kd_error.m
similarity index 75%
rename from MATLAB/zeroLoadCurrent/Kd_error.m
rename to controls/MATLAB/zeroLoadCurrent/Kd_error.m
index 8ecec2bdca8036db3f4c3e0e651a436d94ad5585..9e087f5394d289bce2eba3bc3b920af917d8ef2f 100644
--- a/MATLAB/zeroLoadCurrent/Kd_error.m
+++ b/controls/MATLAB/zeroLoadCurrent/Kd_error.m
@@ -1,15 +1,15 @@
+% 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
diff --git a/MATLAB/zeroLoadCurrent/zero_load_current.m b/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
similarity index 92%
rename from MATLAB/zeroLoadCurrent/zero_load_current.m
rename to controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
index a9ec2e607b5bfcfa866c0000f4f296b5af103104..5ce2636122b937a2396a507ad8acb374a07d73cd 100644
--- a/MATLAB/zeroLoadCurrent/zero_load_current.m
+++ b/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
@@ -1,4 +1,4 @@
-function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_withIfConstant] = zero_load_current(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);
diff --git a/controls/dataCollection/Moment of Inertia 10-25-16.xlsx b/controls/dataCollection/Moment of Inertia 10-25-16.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..22029fa973c512776a1f5bd522d59ffad64a2aa1
Binary files /dev/null and b/controls/dataCollection/Moment of Inertia 10-25-16.xlsx differ
diff --git a/controls/dataCollection/No Load Friction Current.xlsx b/controls/dataCollection/No Load Friction Current.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..bfe2f49b8b4a86f826c3194214df2bad0254cd61
Binary files /dev/null and b/controls/dataCollection/No Load Friction Current.xlsx differ
diff --git a/controls/dataCollection/Thrust and Drag Constant Data.xlsx b/controls/dataCollection/Thrust and Drag Constant Data.xlsx
new file mode 100644
index 0000000000000000000000000000000000000000..f3ea1c03e98dcf630ae6ffb3278e55479389def3
Binary files /dev/null and b/controls/dataCollection/Thrust and Drag Constant Data.xlsx differ
diff --git a/Model/Quadcopter_Model.slx b/controls/model/Quadcopter_Model.slx
similarity index 100%
rename from Model/Quadcopter_Model.slx
rename to controls/model/Quadcopter_Model.slx
diff --git a/controls/parameterIdentification/ModelingParameters.docx b/controls/parameterIdentification/ModelingParameters.docx
new file mode 100644
index 0000000000000000000000000000000000000000..0dcc977533f1c133a95ff775eac36f0a635f071b
Binary files /dev/null and b/controls/parameterIdentification/ModelingParameters.docx differ