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