68 lines
1.3 KiB
Matlab
68 lines
1.3 KiB
Matlab
clear all;
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%% INPUT PARAMETERS:
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% xT=[0, 1, -2, 4, 5, -1]; %positions
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% tT=[0, 1, 2, 3, 4, 5]; %times
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n =5
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tT=linspace(0,10,n);
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xT=rand(n,1);
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% v=[0, -1, 3/2, -1, -1, 0]; %velocities
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vcurr=0;
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acurr=0;
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for i = 1:(numel(tT)-1)
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dt=0.01;
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[c1, c2, c3, c4,v1, a1] = pt(xT(i),xT(i+1),tT(i),tT(i+1), vcurr, acurr);
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vcurr=v1;
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acurr=a1;
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%% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE:
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%Vectors for results
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T = tT(i):dt:tT(i+1);
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X = zeros(length(T),1);
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V = zeros(length(T),1);
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A = zeros(length(T),1);
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J = zeros(length(T),1);
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for (ii = 1:length(T))
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t = T(ii);
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j= 6*c1;
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a= 6*c1*t + 2*c2;
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v= 3*c1*t^2 + 2*c2*t + c3;
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x= c1*t^3 + c2*t^2 + c3*t + c4;
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%Write to vectors
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X(ii)=x;
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V(ii)=v;
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A(ii)=a;
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J(ii)=j;
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end
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%% PLOT CURVES:
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subplot (4,1,1);
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plot(T, X,'r-');
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hold on;
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ylabel('x(t)[m]');
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subplot (4,1,2);
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plot(T, V,'g-');
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hold on;
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ylabel('v(t)[m/s]');
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subplot (4,1,3);
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plot(T, A,'b-');
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hold on;
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ylabel('a(t)[m/s^2]');
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subplot (4,1,4);
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plot(T, J,'k-');
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hold on;
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ylabel('j(t)[m/s^3]');
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xlabel('t[s]');
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end
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subplot (4,1,1);
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stem(tT,xT);
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hold on;
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