From be9116c67da953e49cb21b4e420690fe9e5d497b Mon Sep 17 00:00:00 2001 From: "jazz (gitea)" Date: Mon, 20 Jul 2026 02:09:15 -0500 Subject: [PATCH] give Limbs1.m single leg's worth of position data --- dat/Limbs1.m | 30 +++++++++++++----- slprj/sim/varcache/t1a/checksumOfCache.mat | Bin 392 -> 392 bytes .../t1a/tmwinternal/simulink_cache.xml | 4 +-- slprj/sim/varcache/t1a/varInfo.mat | Bin 2104 -> 2464 bytes t1a.slx | Bin 317435 -> 317601 bytes t1a.slxc | Bin 5733 -> 5754 bytes 6 files changed, 24 insertions(+), 10 deletions(-) diff --git a/dat/Limbs1.m b/dat/Limbs1.m index f1303f0..4d6709d 100644 --- a/dat/Limbs1.m +++ b/dat/Limbs1.m @@ -1,15 +1,29 @@ +%% Bend the Knees %% + +END = 8; + % setup vars -t = [0, 1, 2, 3, 4]; -p = [0, -2, -5, -2, 0]; +t = 0 : 1 : END; +pos_hip = [0, -1, 0, 0, 0, 0, 0, 0, 0]; +pos_knee = [0, 2, 0, 0, 0, 0, 0, 0, 0]; +pos_ankle = [0, -0.5, 0, 0, 0, 0, 0, 0, 0]; % generate graph lines -querypts = 0:0.001:4; -interpts = interp1(t, p, querypts, 'spline')'; +querypts_hip = 0 : 0.001 : END; +querypts_knee = 0 : 0.001 : END; +querypts_ankle = 0 : 0.001 : END; -ret_LHip = [querypts', interpts]; -ret_RHip = [querypts', interpts]; -ret_LKnee = [querypts', interpts]; -ret_RKnee = [querypts', interpts]; +interpts_hip = interp1(t, pos_hip, querypts_hip, 'spline')'; +interpts_knee = interp1(t, pos_knee, querypts_knee, 'spline')'; +interpts_ankle = interp1(t, pos_ankle, querypts_ankle, 'spline')'; + +ret_LHip = [querypts_hip', interpts_hip]; +ret_LKnee = [querypts_knee', interpts_knee]; +ret_LAnkle = [querypts_ankle', interpts_ankle]; + +ret_RHip = [querypts_hip', interpts_hip]; +ret_RKnee = [querypts_knee', interpts_knee]; +ret_RAnkle = [querypts_ankle', interpts_ankle]; % create graph %figure diff --git a/slprj/sim/varcache/t1a/checksumOfCache.mat b/slprj/sim/varcache/t1a/checksumOfCache.mat index 2ef370d90b89b4e341cc3050f0a0c5ffdc1b1dbd..3f54103b72db4a151b3149b615b449242b7c3fc7 100644 GIT binary patch delta 64 zcmeBR?qHr^BH^2#r{GnZqhMs9U|?irU}|Mz2xJ?XO$=0?n7}%*Bt+m`!tpk-rB%z! 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