From 245e7f58131d1885adde4850f8825bfe87d843c6 Mon Sep 17 00:00:00 2001
From: mrgransky <farid.alijani@student.lut.fi>
Date: Tue, 27 Sep 2016 22:25:48 +0200
Subject: [PATCH] Trajectoiry nice
---
.../docking_with_PID_controller.m | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index 3357a359..63a4cd75 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -232,8 +232,8 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
%data 4:
% when using marker pose ,,,,
Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,7);
+Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
+Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
% Extracting reference values when the robot is manually docked!
@@ -320,7 +320,7 @@ plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
title('Pose estimation in marker coordinate system');
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
-l2 = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
@@ -333,7 +333,7 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
% hold on
% plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-axis([0 80 -.1 .67])
+% axis([0 80 -.1 .67])
subplot(3,1,3);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
hold on
@@ -363,7 +363,7 @@ title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
axis([0 45 -.01 .2]);
-l2 = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
@@ -482,7 +482,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Target area');
% axis([0.0065 .0095 .1995 .2055]);
-l = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
set(l,'interpreter','latex','FontSize',11);
% legend('boxoff');
--
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