add DVT1-2

get_GCTraj_R1000_DVT.m

@@ -1,9 +1,12 @@
 %temp get DVT traj
 gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))];
-motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
+% motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
+% DVT1-2
+motorConstant = [0.21,0.21,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
 sensorDir = [-1,1,-1,-1,-1,1,-1,1,1];
 % load("C:\Users\cosmicpower\AppData\Roaming\123pan\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat");
-load("D:\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat")
+% load("D:\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat")
+load("D:\1833128421\123同步文件夹\R1000-GC-Data\DVT1-2\large-range-lab1.mat");
 posDir = [1,1,1,1,1,1,1,-1,1];
 isCurrentSensor = true;
 % J9 traj

plotData_current.m

@@ -1,11 +1,13 @@
 gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))];
-motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
+% motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
+% DVT1-2
+motorConstant = [0.21,0.21,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
 sensorDir = [-1,1,-1,-1,-1,1,-1,1,1];
 % load("D:\1833128421\123同步文件夹\R1000-GC-Data\lab12.mat");
 posDir = [1,1,1,1,1,1,1,-1,1];
 
 % J9 traj
-for i=9
+for i=2
     fileData=eval(strcat('fileData', num2str(i)));
     data = fileData.data;
     dataLength = length(data);
@@ -30,7 +32,7 @@ end
 % should run identifcation program firstly
 resolution = 20;
 tau_estimate=[];
-for k=9
+for k=3
     if k ==2
         qx = idntfcnTrjctry(k).q(k,:);
         qy = idntfcnTrjctry(k).q(6,:);
@@ -53,5 +55,5 @@ end
 hold on;
 mesh(X,Y,current_estimate,current_estimate, 'FaceAlpha', 0.0)
 %%
-% saveas(gcf, ['./figure/' 'J' num2str(k) ' Gravity Model' '.jpg'])
+saveas(gcf, ['./figure/' 'J' num2str(k) ' Gravity Model' '.jpg'])