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All of these code samples currently are mis-identified in my repositories. I'm donating them to the cause.
56 lines
2.3 KiB
Matlab
56 lines
2.3 KiB
Matlab
function data = load_bikes(bikes, input)
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% function data = load_bikes(bikes, input)
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% Returns the data for a set of bicycles at three speeds.
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%
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% Parameters
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% ----------
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% bikes : cell array
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% A cell array that lists the bicyle short names.
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% input : string
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% 'Steer' or 'Roll'
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%
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% Returns
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% -------
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% data : structure
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% A structure containg a node for each bicycle and each speed.
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speeds = [2.5, 5.0, 7.5];
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speedNames = {'Slow', 'Medium', 'Fast'};
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% these are the gains that were selected manually by Ron Hess, taken from
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% the paper
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gains.Benchmark.Slow = [22.0, -0.090, 23.3, 0.058, 0.195]; % place holder
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gains.Browserins.Slow = [22.0, -0.090, 23.3, 0.058, 0.195];
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gains.Browser.Slow = [20.5, -0.086, 24.1, 0.053, 0.199];
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% the gains in the paper give an unstable bike, the uncommented one were the ones from his
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% simulink model
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gains.Pista.Slow = [22.3000,-0.1300,15.6410,0.0645,0.1990]; %[22.3, -0.130, 15.6, 0.662, 0.198];
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gains.Fisher.Slow = [23.0, -0.120, 17.7, 0.065, 0.198];
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gains.Yellow.Slow = [18.0, -0.110, 20.2, 0.062, 0.200];
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gains.Yellowrev.Slow = [48.0, -0.070, 27.9, 0.063, 0.191];
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gains.Benchmark.Medium = [ 46.5, -0.052, 12.8, 0.177, 0.097];
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gains.Browserins.Medium = [ 48.0, -0.080, 9.03, 0.161, 0.097];
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gains.Browser.Medium = [ 43.0, -0.087, 8.50, 0.173, 0.100];
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gains.Pista.Medium = [ 49.0, -0.080, 8.06, 0.170, 0.101];
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gains.Fisher.Medium = [ 50.5, -0.084, 8.26, 0.168, 0.100];
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gains.Yellow.Medium = [ 39.0, -0.085, 8.61, 0.160, 0.101];
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gains.Yellowrev.Medium = [105.0, -0.070, 8.90, 0.165, 0.100];
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gains.Benchmark.Fast = [ 74.0, -0.063, 6.31, 0.332, 0.065]; % place holder
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gains.Browserins.Fast = [ 74.0, -0.063, 6.31, 0.332, 0.065];
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gains.Browser.Fast = [ 68.0, -0.060, 6.74, 0.330, 0.065];
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gains.Pista.Fast = [ 80.0, -0.058, 5.82, 0.321, 0.066];
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gains.Fisher.Fast = [ 82.0, -0.062, 5.83, 0.315, 0.065];
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gains.Yellow.Fast = [ 61.0, -0.063, 6.34, 0.345, 0.065];
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gains.Yellowrev.Fast = [170.0, -0.050, 6.45, 0.300, 0.066];
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% load the data for all speeds for all the bikes
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for i = 1:length(bikes)
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for j = 1:length(speeds)
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data.(bikes{i}).(speedNames{j}) = ...
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generate_data(bikes{i}, speeds(j), 'input', input, ...
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'gains', gains.(bikes{i}).(speedNames{j}));
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end
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end
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