Merge branch 'master' of https://git.ece.iastate.edu/danc/MicroCART_17-18

MATLAB/thrustAndDragConstant/calc_drag_constant.m → controls/MATLAB/thrustAndDragConstant/calcDragConstant.m

-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 

MATLAB/thrustAndDragConstant/calc_thrust_constant.m → controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m

-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 

MATLAB/thrustAndDragConstant/thrust_drag_constant_calculations.m → controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m

+% 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 );
 

MATLAB/zeroLoadCurrent/Kd_error.m → controls/MATLAB/zeroLoadCurrent/Kd_error.m

+% 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

MATLAB/zeroLoadCurrent/zero_load_current.m → controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m

-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);