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55 lines
1.1 KiB
55 lines
1.1 KiB
clear all
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close all
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files = dir
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csvfiles = dir
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for i = 1:size(csvfiles,1)
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% check for start sequence
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temp = strfind(csvfiles(i,1).name,'trajectory_')
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if (1 ~= length(temp) || temp(1) ~= 1)
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continue;
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end
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filename = csvfiles(i,1).name;
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filename
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M = csvread(filename);
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sampletime = 0.005
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t_max = size(M,1) * sampletime;
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t = linspace(0,t_max,size(M,1));
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[~,M_d] = gradient( M,0.005);
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[~,M_dd] = gradient( M_d,0.005);
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% create new figure per csv
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f = figure();
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set(f,'name',filename,'numbertitle','off')
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% plot the angles
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subplot(3,1,1);
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plot (t,M);
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title('joint movement');
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ylabel('s in [ degree ]');
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xlabel('time in [ seconds ]');
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% plot the velocity
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subplot(3,1,2);
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plot (t,M_d);
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title('joint velocity ');
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ylabel('v in [ degree / seconds ]');
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xlabel('time in [ seconds ]');
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% plot the acceleration
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subplot(3,1,3);
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plot (t,M_dd);
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title('joint acceleration');
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ylabel('a in [ degree / seconds^2 ]');
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xlabel('time in [ seconds ]');
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end
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