Updated zeroLoadCurrent scripts to incorporate new motor command ranges

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');
+data = readtable('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\Thrust and Drag Constant Data v2.xlsx');
 
-filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\MATLAB\MicroCART\Zero Load Current\No Load Friction Current.csv';
+filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\noLoadCurrentv2.xlsx';
 
-[I_0, I_1, I_2, dutyCycle_error, error, residual_error, residual_error_ConstantIf] = zeroLoadCurrent(filePath_noLoadCurrentData);
+[I_0, I_1, I_2, motorCommand_error, error, residual_error, residual_error_ConstantIf] = zeroLoadCurrent(filePath_noLoadCurrentData);
 
-Pmin = 0.40;
-Pmax = 0.8;
+Pmin = 1e5;
+Pmax = 2e5;
 Rm = 0.2308;
 Kv = 96.3422;
 Kq = 96.3422;
+Kd = 1.0317e-7;
 
 % Convert RPM to angular speed of each rotor.
 rotor_speed_0 = data.(2) * (pi/30);
@@ -17,10 +18,10 @@ rotor_speed_1 = data.(3) * (pi/30);
 rotor_speed_2 = data.(4) * (pi/30);
 rotor_speed_3 = data.(5) * (pi/30);
 
-duty_cycle_percentage = data.(1);
+motorCommand = data.(1);
 Vb = data.(6);
 
-u = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
+u = ((data.(1)) - Pmin)/(Pmax - Pmin);
 
 If = I_0 * sign(rotor_speed_0) + I_1 * rotor_speed_0 + I_2 * rotor_speed_0.^2;
 w_num = -1 + sqrt( 1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*u.*Vb));
@@ -29,13 +30,10 @@ w = w_num / w_den;
 
 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(motorCommand, w); grid()
+plot(motorCommand, rotor_speed_0);
 
-xlabel('Duty Cycle Percentage');
+xlabel('Motor Command');
 ylabel('Rotor Speed (rad/s)')
 
 residual_error

controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m

-function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_constantIf] = zeroLoadCurrent(absoluteFilePath)
+function [I_0, I_1, I_2, motorCommand, 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
@@ -9,7 +9,7 @@ function [I_0, I_1, I_2, dutyCycle, error, residual_error, residual_error_consta
     data = readtable(absoluteFilePath);
 
     %Extract the motor speed column and convert it to radians per second
-    dutyCycle = data.(1);
+    motorCommand = data.(1);
     motorSpeed_rpm = data.(2);
     motorSpeed_radPerSec = motorSpeed_rpm * pi/30;