matlab/wheelPLL.m File Reference

Go to the source code of this file.

Functions
	encDot (2:rows,:)
	fvtool (h2, 1)%filter encDot b
	figure (i+cols *2) hold off
	plot (encData(:, i), encDot(:, i),'-r')
	results (i, j)
end	figure (i) hold off
	plot (2 *pi *[1:steps]/steps, results(i,:))
	figure (9)
	plot (encData(:, 1), encDot(:, 1),'-r')
	plot (encData(:, 1), y,'-b')
	plot (encData(:, 1), encDot(:, 1)-y,'-k')
	plot ([1:rows], encDot(:, 1).*y,'-k')
	results2 (i, j)
end	figure (i+cols) hold off
	plot (amplitudeMax *[1:steps]/steps, results2(i,:))
Variables
	function [phases, amplitudes]
	fl
	br
bl returns phases of wheels and amplitudes of wheels such	that
make sure cols are data for each	encoder [rows, cols]
	n = 100
	f = [0, 0.03, 0.12, 1]
	a = [0,1,0]
	up = [ 0.01, 1.1, 0.1]
	lo = [-0.01, 0.9, -0.1]
	h1 = fircls(n,f,a,up,lo)
	h2 = fir1(n,f)
for	i
	x = filter(h2,1,encData(:,i))
hold	on
end make a avg of each row of data	encAvg = sum(encData,2) / cols
for each cols(each encoder	amplitudes ) = ones(cols,1)
	results = zeros(cols,steps)
	results2 = zeros(cols,steps)
	y = encDot(:,i) - cos(2*pi*encData(:,i)/ticksPerRevolution + phase)
	end [value, index] = min(results')
	phases = 2*pi * index/steps
hold	off

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Function Documentation

encDot (  2:rows  , :  )

end figure (  i+  cols  )

figure (  9   )

end figure (  i   )

figure (  i+cols *  2  )

fvtool (  h2  , 1  )

plot (  amplitudeMax */  steps[1:steps], results2(i,:)  )

plot (  encDot(:, 1).*  y, '-k'  )

plot (  encData(:, 1)  , encDot(:, 1)-  y, '-k'  )

plot (  encData(:, 1)  , y  , '-b'  )

plot (  encData(:, 1)  , encDot(:, 1)  , '-r'  )

plot (  2 *pi */  steps[1:steps], results(i,:)  )

plot (  encData(:, i)  , encDot(:, i)  , '-r'  )

results (  i  , j  )

results2 (  i  , j  )

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Variable Documentation

a = [0,1,0]

Definition at line 29 of file wheelPLL.m. Referenced by main().

for each cols (each encoder amplitudes) = ones(cols,1)

Definition at line 65 of file wheelPLL.m.

br

Definition at line 1 of file wheelPLL.m.

end make a avg of each row of data encAvg = sum(encData,2) / cols

Definition at line 57 of file wheelPLL.m.

make sure cols are data for each encoder[rows, cols]

Initial value: size(encData) if rows < cols encData = encData' Definition at line 15 of file wheelPLL.m.

end[value, index] = min(results')

Definition at line 80 of file wheelPLL.m.

f = [0, 0.03, 0.12, 1]

Definition at line 28 of file wheelPLL.m. Referenced by Joystick::display(), display(), main(), fhwInterface::setAdjustedSCPower(), hwInterface::setAdjustedSCPower(), and setAdjustedSCPower().

fl

Definition at line 1 of file wheelPLL.m.

function[phases, amplitudes]

Initial value: wheelPLL(encData,steps,amplitudeMax) % function [frP,flP,brP,blP] = trucksim(fr,fl,br,bl) % % determines phase and amplitudes on fr Definition at line 1 of file wheelPLL.m.

h1 = fircls(n,f,a,up,lo)

Definition at line 32 of file wheelPLL.m.

h2 = fir1(n,f)

Definition at line 37 of file wheelPLL.m.

for i

Initial value: [1:cols] encDot(:,i) = filter(h1,1,encDot(:,i)) Definition at line 42 of file wheelPLL.m.

lo = [-0.01, 0.9, -0.1]

Definition at line 31 of file wheelPLL.m.

n = 100

Definition at line 27 of file wheelPLL.m. Referenced by main().

hold off

Definition at line 84 of file wheelPLL.m.

hold on

Definition at line 48 of file wheelPLL.m.

phases = 2*pi * index/steps

Definition at line 81 of file wheelPLL.m.

results = zeros(cols,steps)

Definition at line 66 of file wheelPLL.m.

results2 = zeros(cols,steps)

Definition at line 67 of file wheelPLL.m.

bl returns phases of wheels and amplitudes of wheels such that

Definition at line 1 of file wheelPLL.m.

up = [ 0.01, 1.1, 0.1]

Definition at line 30 of file wheelPLL.m.

x = filter(h2,1,encData(:,i))

Definition at line 44 of file wheelPLL.m. Referenced by GuiClientFrame::OnSocket().

y = encDot(:,i) - cos(2*pi*encData(:,i)/ticksPerRevolution + phase)

Definition at line 72 of file wheelPLL.m.

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