Added matlab code samples.

All of these code samples currently are mis-identified in my repositories. I'm
donating them to the cause.

samples/Matlab/write_gains.m

@@ -0,0 +1,48 @@
+function write_gains(pathToFile, speeds, gains)
+% function write_gains(pathToFile, speeds, gains)
+%
+% Adds the provided gains to the file.
+%
+% Parameters
+% ----------
+% pathToFile : string
+%   The path to a gain file.
+% speeds : matrix(n, 1)
+% gains : matrix (n, 5)
+%   A matrix of gains where each row corresponds to a speed and the columns
+%   correspond to the loops starting at the innermost loop.
+
+contents = importdata(pathToFile);
+
+speedsInFile = contents.data(:, 1);
+gainsInFile = contents.data(:, 2:end);
+
+% remove any speeds that are very close to the speeds provided
+sameSpeedIndices = [];
+for i = 1:length(speedsInFile)
+    for j = 1:length(speeds)
+        if abs(speedsInFile(i) - speeds(j)) < 1e-3
+            sameSpeedIndices = [sameSpeedIndices i];
+        end
+    end
+end
+speedsInFile(sameSpeedIndices) = [];
+gainsInFile(sameSpeedIndices, :) = [];
+
+% concatenate data
+allGains = [gainsInFile; gains];
+allSpeeds = [speedsInFile; speeds];
+
+% sort the data
+[allSpeeds, order] = sort(allSpeeds);
+allGains = allGains(order, :);
+
+% recombine
+all = [allSpeeds, allGains];
+
+% rewrite the file
+fid = fopen(pathToFile, 'w');
+h = contents.colheaders;
+fprintf(fid, '%s,%s,%s,%s,%s,%s\n', h{1}, h{2}, h{3}, h{4}, h{5}, h{6});
+fprintf(fid, '%1.3f,%1.4f,%1.4f,%1.4f,%1.4f,%1.4f\n', all');
+fclose(fid);