From d1929714a02c2c02cb744607ec485c33a0aa3e1f Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Fri, 28 Oct 2016 22:36:09 -0500
Subject: [PATCH] Added comments and updated function calls
---
.../thrustDragConstantCalculations.m | 9 ++++++---
controls/MATLAB/zeroLoadCurrent/Kd_error.m | 17 ++++++-----------
.../MATLAB/zeroLoadCurrent/zeroLoadCurrent.m | 6 +++---
3 files changed, 15 insertions(+), 17 deletions(-)
diff --git a/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m b/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m
index 1f8caf84b..1ef354792 100644
--- a/controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.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/controls/MATLAB/zeroLoadCurrent/Kd_error.m b/controls/MATLAB/zeroLoadCurrent/Kd_error.m
index 8ecec2bdc..9e087f539 100644
--- a/controls/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/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m b/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.m
index 330f295c5..5ce263612 100644
--- a/controls/MATLAB/zeroLoadCurrent/zeroLoadCurrent.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] = 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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