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Rise Web>TWikiUsers > AMcClung>TreysRandomSoftware (10 May 2006, MarkCutkosky)Software (mostly Matlab) by AMcClung
This is a partial listing of some of the more useful bits of Matlab code that I have accumulated. Many of them are specialized for a certain problem, but contain some useful parts that may be harvested for future scripts.Format
| Name | NAME |
|---|---|
| Highlights | - HIGHLIGHT |
| Project(s) used | PROJECT(S) USED |
| Location | LOCATION |
| Ex. use | Example of use |
NOTE: Usable code is attached below unless corresponding data/files are too consumptive
Last checked on Matlab R14
Useful Matlab notes
- Use arrays to plot over several areas (columns or rows) with subplot command
- eg.
subplot(2,2,1), subplot(2,2,3), subplot(2,2,[2 4])
- eg.
| Name | avg4pts.m |
|---|---|
| Highlights | - Find the average center and radius for 4pts, using the 4 circles that can be formed using 3 pts - uses circ3ptsc.m |
| Project(s) used | Turning curvature tests / Image processing |
| Location | chewie\amcclung\Code\Matlab\LSCircFit |
| Ex. use | >> avgr4pts([0 0; 0 1; 1 0; 1 1],1) |
| Name | aviread<x>.m |
|---|---|
| Highlights | - script to read avi files frame by frame and perform some blob analysis |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\Sprawl323Tests\CodeSummary |
| Ex. use | >> d=aviRead3('cp41_1.avi'); |
| Name | beta<x>.m |
|---|---|
| Highlights | - set of scripts that implement basic moment based turning model |
| Project(s) used | Moment analysis for turning |
| Location | chewie\amcclung\Code\Matlab\moment |
| Ex. use | >> beta4 |
| Name | box3d.m |
|---|---|
| Highlights | - used to plot 3D boxes (solid or wireframe) |
| Project(s) used | RiSE trajectory analysis |
| Location | chewie\amcclung\Code\Matlab\Trajectory |
| Ex. use | >> figure, hold on, box3d(-50,50,-80,80,0,40) |
| Name | butdz.m |
|---|---|
| Highlights | - apply a butterworth filter to loaded data -plots original and filtered data |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\TempSysIDSummary |
| Ex. use | >> butdz(data(:,1)) |
| Name | centroids<x>.m |
|---|---|
| Highlights | - locates specified numbers of centroids in B/W images (based on blob labelling) - calculates the center of the centroids - used in aviread.m |
| Project(s) used | Overhead Sprawlette testing with image/video capture |
| Location | chewie\amcclung\Data\Image\oh\oh_01 |
| Ex. use | >> C = centroids3a(bwimage,numblobs) |
| Name | chirptern3.m |
|---|---|
| Highlights | - generates a swept sine wave - shows what signals will be sent to a servo (based on its timing cycle) - creates a text file that can be used by Tern board to control Sprawlettes leg servos |
| Project(s) used | SysID of SPrawlettes maneuverability |
| Location | chewie\amcclung\Recent |
| Ex. use | >> chirptern3(.1,10,28,4) |
| Name | circ<x>pts.m |
|---|---|
| Highlights | - calculate a circle based on <x> pts - derived from the intersection of perdendicular bisectors of 2 chords of the circle |
| Project(s) used | Turning curvature tests / Image processing |
| Location | chewie\amcclung\Code\Matlab\LSCircFit |
| Ex. use | >> [x,y,r]=circ3ptsc([0 1; 1 0; 1 1]) |
| Name | circle.m |
|---|---|
| Highlights | - draws a circle given the location, radius and color |
| Project(s) used | Simulation plots, LA plots |
| Location | chewie\amcclung\Data\Adams\cmp\dataset9b |
| Ex. use | >> circle(1,1,50,'g') |
| Name | ColorCodes.m |
|---|---|
| Highlights | - generates a screen full of color samples and code vectors -change the 'depth' variable to get more colors |
| Project(s) used | Plotting aid |
| Location | chewie\users\Climbing\TestTrackData\ClawAdjustment_Aug17_2004 |
| Ex. use | >> ColorCodes |
| Name | crunchaccel.m |
|---|---|
| Highlights | - performs analysis on the accelerometer data from the logger to detect slip/touchdown/detachment/etc - uses shading to differentiate strokes - uses psd to look at frequency content |
| Project(s) used | Video sync trials |
| Location | chewie\amcclung\Data\TestTrack\VideoSyncTrial |
| Ex. use | >> crunchaccel |
| Name | crunchdat.m |
|---|---|
| Highlights | - batch program to load and plot force plate data - uses automated versions of FTplot_<x>.m for plotting -some version include user input for friction calculation |
| Project(s) used | Friction tests |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware |
| Ex. use | Load the data 1st >> crunchdat |
| Name | crunchtag<x>.m |
|---|---|
| Highlights | - analyze Taguchi L4 & L9 data for primary and secondary interactions |
| Project(s) used | Design of Experiments |
| Location | chewie\Data\Adams\cmp\dataset8e_comparison - in data folders |
| Ex. use | Load the data 1st >> crunchtag4all |
| Name | FTplot_<x>.m |
|---|---|
| Highlights | - plot the data from the force plate in formatted graph - some versions include calculations for friction |
| Project(s) used | Various tests on the climbing wall (prototype leg, single leg, full platform) |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware - in data folder |
| Ex. use | Load the data 1st >> FTplot_r01(trial_003,1000,60,4); |
| Name | fullscreen.m |
|---|---|
| Highlights | - makes a figure full screen, useful for user mouse input on graphs |
| Project(s) used | Friction calculations for prototype feet for RiSE leg |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware |
| Ex. use | >> plot([1,2],[2,1]), fullscreen |
| Name | gaitgestures.m |
|---|---|
| Highlights | - allows real time adjustment of data by dragging data in a plot - stopped development because of JKarpick's GestureTweak software |
| Project(s) used | StickyBot gait development |
| Location | chewie\amcclung\Code\Matlab\GaitGestures |
| Ex. use | Load the data 1st load fourstrokegait, gaitgestures(fourstrokegait(:,[1+[9,11,1]])); |
| Name | gbode_auto<x>.m |
|---|---|
| Highlights | - automated to use input/output data to create Bode plot from FFT & SysID techniques |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\ServoTests\CodeSummary |
| Ex. use | Load the data 1st >> gbode_auto3('d4107',d4107,'d007',d007,1,60); |
| Name | getMouse.m |
|---|---|
| Highlights | - script to read in mouse movement from a MacroWhiz (*.mb) file and display data |
| Project(s) used | ???TBD - Possibly to determine screen pixel locations for plotting? |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware |
| Ex. use | >> getMouse; |
| Name | GPlan.m (see GaitPlanner for latest StickyBot version) |
|---|---|
| Highlights | - temporal gait planner - allows inputs similar to CustomGaitX (pif, pir, pc) - gives visual display of leg period phases and robot actuation - animated, with active speed control slider |
| Project(s) used | Gait planning for RiSE leg trajectories |
| Location | chewie\amcclung\Code\Matlab\GaitPlanner |
| Ex. use | >> GPlan |
| Name | histplotcolor<x>.m |
|---|---|
| Highlights | - generates a multicolored histogram from climbing data |
| Project(s) used | RiSE foot climbing analysis |
| Location | chewie\users\Climbing\TestTrackData\ClawAdjustment_Aug17_2004 |
| Ex. use | Load and sort the data 1st >> load ForceData2 >> sortdata >> histplotcolor2 |
| Name | LA<x>.m |
|---|---|
| Highlights | - set of scripts to plot leg angles and intersection points for planning turning tests - some version give leg angles, intersection points |
| Project(s) used | Turning experiments (ADAMS & Sprawlettes) |
| Location | chewie\amcclung\Code\Matlab\LegAngle |
| Ex. use | >> LA22 |
| Name | ld.m |
|---|---|
| Highlights | - simple script to quickly load numbered data files (starting from data001.m) |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\ServoTests |
| Ex. use | >> ld |
| Name | loaddata.m |
|---|---|
| Highlights | - batch data sorting script to select 1 trial from a test group for analysis with other groups - some versions create force summaries |
| Project(s) used | Friction tests |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware |
| Ex. use | >> loaddata4b('trial',1,1,5,1,1000,60,5); |
| Name | loadlogdata.m |
|---|---|
| Highlights | - loads/sorts the parameters stored in the log data file from the RiSE platform - based on getstructdata.m |
| Project(s) used | Reading log data structure for easier data use |
| Location | chewie\amcclung\Data\TestTrack\VideoSyncTrial |
| Ex. use | >> loadlogdata |
| Name | MINNEW.M |
|---|---|
| Highlights | - finds the minimum values of multidimensional arrays |
| Project(s) used | SysID tests / ASME paper |
| Location | chewie\amcclung\Data\TempSysIDSummary |
| Ex. use | Load the data 1st >> minnew2(SSRspace,5) |
| Name | MYaviread.m |
|---|---|
| Highlights | - altered script from R14 that includes progress feedback while loading video |
| Project(s) used | Video sync trials |
| Location | chewie\amcclung\Data\TestTrack\VideoSyncTrial |
| Ex. use | >> a=MYaviread('TestClimb1a.avi',[1:153]); |
| Name | Pant_Path.m |
|---|---|
| Highlights | - GUI to select a path for leg trajectories with mouse clicks |
| Project(s) used | RiSE gait generation |
| Location | chewie\users\Software\PrototypeLegTestCode |
| Ex. use | >> Pant_Path |
| Name | paramidcp41<x>.m |
|---|---|
| Highlights | - This script can be used to create ARX, ARMAX and BJ models for the pre-loaded data listed in the code - System Identification Toolbox required in Matlab |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\TempSysIDSummary |
| Ex. use | Load the data 1st >> paramidcp41d |
| Name | pidsearch<x>.m |
|---|---|
| Highlights | - brute force model sweep for Parameter ID that calculates Sum Squared Residual (SSR) for each model - System Identification Toolbox required in Matlab |
| Project(s) used | SysID tests / ASME paper |
| Location | chewie\amcclung\Data\TempSysIDSummary |
| Ex. use | Load the data 1st >> pidsearch |
| Name | prbs.m |
|---|---|
| Highlights | - This function produces a Pseudo Random Binary Sequence of the specified order |
| Project(s) used | TBD |
| Location | chewie\amcclung\Data\Sprawl323Tests\CodeSummary |
| Ex. use | >> prbs(5) |
| Name | procavi<x>.m |
|---|---|
| Highlights | - load an 'avi' file and process the movie to determine the angle of the Sprawlette body -added detection and recording of digital data squares |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\Sprawl323Tests\CodeSummary |
| Ex. use | >> [beta, bdata]=procavi4('cp41_1.avi'); |
| Name | rebot.m |
|---|---|
| Highlights | - automated script to read in strange data format from ADAMS simulation - reads in data in blocks (based on S. Bailey script read_acrobot1.m) |
| Project(s) used | ADAMS Simulation experiments |
| Location | chewie\amcclung\Data\Adams\cmp\dataset8g_comparison - in data folders |
| Ex. use | >> rebot |
| Name | rise_trajectory.m |
|---|---|
| Highlights | - allows quick gait generation by adding/deleting nodes from a table - active row coloring based on checkbox/activation state |
| Project(s) used | Gait generation for the RiSE legs |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware |
| Ex. use | >> rise_trajectory |
| Name | scrap<x>.m |
|---|---|
| Highlights | - bode diagram with plot options for dataset <x> |
| Project(s) used | SysID tests |
| Location | chewie\amcclung\Data\Sprawl323Tests\CodeSummary chewie\amcclung\Data\TempSysIDSummary |
| Ex. use | Load the data 1st >> scrap |
| Name | SelectLeg.m |
|---|---|
| Highlights | - GUI to select/toggle legs for use by another script - returns the buttons that are selected in the GUI - closes the GUI and returns certain variables |
| Project(s) used | Force plate analysis for full platform data |
| Location | chewie\amcclung\Code\Matlab\TestTrackSoftware |
| Ex. use | >> a=SelectLeg |
| Name | tm<x>.m auto_tm<x>_L |
|---|---|
| Highlights | - read image file, convert to B&W, locate the blobs (2 hopefully) - connect blobs by a line and determine the angle of the chord between the 2 lines - the B&W contrast cutoff level can be set by a variable - automated version expects a specified number of data files present |
| Project(s) used | Overhead Sprawlette testing with image/video capture |
| Location | chewie\amcclung\Data\Image\oh\oh_01 |
| Ex. use | >> tm3 >> [files, angs]=auto_tm3; |
| Name | vidsync_r<x>.m |
|---|---|
| Highlights | - script to syncronize video and data files (RiSE logger or force plate) - movie is built using arrays and reassigning data within a structure |
| Project(s) used | Video sync trials |
| Location | chewie\amcclung\Data\TestTrack\VideoSyncTrial |
| Ex. use | >> vidsync_gui |
| Name | vidsync_vidgui.m |
|---|---|
| Highlights | - GUI to help sync frames from video and data - GUI allows frame by video/data viewing - some versions allow for overlay of add'l data (crank/wing data) - returns the frames that should be sync'd together |
| Project(s) used | Video sync trials |
| Location | chewie\amcclung\Data\TestTrack\VideoSyncTrial |
| Ex. use | >> [movframe1 dataframe1]=vidsync_vidgui(mov2sync,data2sync,datasamp); |
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| Highlights | - |
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| Highlights | - |
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