From 94079a8a263b72ff3ac7cbd623d312c1520e5d7d Mon Sep 17 00:00:00 2001 From: cosmic_power Date: Sun, 7 Jan 2024 11:20:29 +0800 Subject: [PATCH] bugfix code can be run --- autogen/F_vctr_fcn.m | 8 ++++---- main.m | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/autogen/F_vctr_fcn.m b/autogen/F_vctr_fcn.m index c3109fa..7510510 100644 --- a/autogen/F_vctr_fcn.m +++ b/autogen/F_vctr_fcn.m @@ -1,9 +1,9 @@ function tau_frcn = F_vctr_fcn(in1,in2) -%F_VCTR_FCN -% TAU_FRCN = F_VCTR_FCN(IN1,IN2) +%F_vctr_fcn +% TAU_FRCN = F_vctr_fcn(IN1,IN2) -% This function was generated by the Symbolic Math Toolbox version 8.2. -% 20-Oct-2021 10:57:15 +% This function was generated by the Symbolic Math Toolbox version 9.1. +% 06-Jan-2024 18:16:41 pi_frcn_11 = in2(1,:); pi_frcn_21 = in2(2,:); diff --git a/main.m b/main.m index e965216..2a9878c 100755 --- a/main.m +++ b/main.m @@ -27,7 +27,7 @@ include_motor_dynamics = 1; % Estimate drive gains -drive_gains = estimate_drive_gains(baseQR, 'PC-OLS'); +drive_gains = estimate_drive_gains(baseQR, 'OLS'); % Or use those found in the paper by De Luca % drive_gains = [14.87; 13.26; 11.13; 10.62; 11.03; 11.47]; @@ -38,7 +38,7 @@ path_to_est_data = 'ur-20_02_10-30sec_12harm.csv'; idxs = [635, 3510]; % path_to_data = 'ur-20_02_05-20sec_8harm.csv'; idxs = [320, 2310]; % path_to_data = 'ur-20_02_12-50sec_12harm.csv'; idxs = [355, 5090]; sol = estimate_dynamic_params(path_to_est_data, idxs, ... - drive_gains, baseQR, 'PC-OLS'); + drive_gains, baseQR, 'OLS'); % Validate estimated parameters