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started debugging

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bpmcgeeney
2021-10-11 11:30:51 -07:00
parent 1b13a88c7d
commit 591ddc77e4
6 changed files with 59 additions and 33 deletions
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20
matlabHelpers/simPlot.m
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@@ -27,6 +27,9 @@ rolldot = T(:, 16);
Servo1 = T(:, 17);
Servo2 = T(:, 18);
LQRx = T(:, 19);
LQRy = T(:, 20);
% Acceleration
subplot(3, 1, 1)
plot(t, az)
@@ -91,3 +94,20 @@ title('Servo 2 Position vs Time')
xlabel('Time (ms)')
ylabel('Servo 2 Position (rad)')
%saveas(gcf,'outputs/Servo Position vs Time.png')
figure(4)
% Servo 1 Position
subplot(2, 1, 1)
plot(t, LQRx)
title('LQRx vs Time')
xlabel('Time (ms)')
ylabel('LQRx')
% Servo 2 Position
subplot(2, 1, 2)
plot(t, LQRy)
title('LQRy vs Time')
xlabel('Time (ms)')
ylabel('LQRy')
%saveas(gcf,'outputs/Servo Position vs Time.png')