bme411/mainScript.m at master · jgeurten/bme411 · GitHub

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% Main Script

% Initial launch conditions
% v0 = launch_params(1);      % initial speed [m/s]
%
% elev = launch_params(2);    % angle of elevation, theta in diagram
%
% wz = launch_params(3);      % back spin [rad/s]
% height = launch_params(4);  % height of release above ground [m]

close all;
setGlobalVars();

angles = 0:10:60;  %deg
backspins = 0:5:30; %rad/s
speeds = 0:4:20;

%lLot distances as a function of angle
figure, hold on
for i = 1:length(angles)
    launch_params = [20, angles(i), 10, 2];
    [x, final,t] = simBallTrajectory(launch_params);
    dispName = [num2str(angles(i)), ' deg'];
    plot(x(1:final,3),x(1:final,4), 'LineWidth', 3,'DisplayName', dispName );
%     plot(t(1:final), x(1:final, 4), 'LineWidth', 3,'DisplayName', dispName);
    legend('-DynamicLegend');
end
hold off
legend('show')
xlabel('Ball Distance [m]');
ylabel('Ball Height [m]');
title('Ball Trajectory vs Launch Angle')
saveas(gcf, 'Trajectory_vs_Angle.png');

figure, hold on
for i = 1:length(backspins)
    launch_params = [20, 20, backspins(i), 2];
    [x, final,t] = simBallTrajectory(launch_params);
    dispName = [num2str(backspins(i)), ' rad/s'];
    plot(x(1:final,3),x(1:final,4), 'LineWidth', 3,'DisplayName', dispName );
%     plot(t(1:final), x(1:final, 4), 'LineWidth', 3,'DisplayName', dispName);
    legend('-DynamicLegend');
end
hold off
legend('show')
xlabel('Ball Distance [m]');
ylabel('Ball Height [m]');
title('Ball Trajectory vs Launch Spn')
saveas(gcf, 'Trajectory_vs_Spin.png');


figure, hold on
for i = 1:length(speeds)
    launch_params = [speeds(i), 20, 10, 2];
    [x, final,t] = simBallTrajectory(launch_params);
    dispName = [num2str(speeds(i)), ' m/s'];
    plot(x(1:final,3),x(1:final,4), 'LineWidth', 3,'DisplayName', dispName );
%     plot(t(1:final), x(1:final, 4), 'LineWidth', 3,'DisplayName', dispName);
    legend('-DynamicLegend');
end
hold off
legend('show')
xlabel('Ball Distance [m]');
ylabel('Ball Height [m]');
title('Ball Trajectory vs Launch Speed')
saveas(gcf, 'Trajectory_vs_velocity.png');

%%

heights = [];
vels = [];
angles = 0:60;

for i = 1:length(angles)
    [vel, height] = calcVelocity(angles(i));
    heights = [heights, height];
    vels = [vels; vel];
end


figure, scatter(angles, heights);
xlabel('Angle (deg)');
ylabel('Launch Height (m)');
title('Launch Height versus Launch Angle');
saveas(gcf, 'height_vs_angle.png')

figure, scatter(angles, vels);
xlabel('Angle (deg)');
ylabel('Launch Speed (m/s)');
title('Launch Speed versus Launch Angle');
saveas(gcf, 'speed_vs_angle.png')

%% Optimization part of the code

%[ vel (m/s), angle (deg), backspin (rad/s)];
lBounds = [0, 0, 0];
uBounds = [20, 60, 10*pi];
% initConds = [10, 35, 5];
% optimalLaunchConds =
%
%    15.6954   15.5481   13.1953

initConds = [10, 35, 5];
options = optimoptions('fmincon','Display','iter');
nonlcon = @unitdisk;
[optimalLaunchConds, distance] = fmincon(@optimizeLaunchConds, initConds,[],[],[],[],lBounds, uBounds, [], options)

optimalVel = optimalLaunchConds(1);
optimalAngle = optimalLaunchConds(2);
optimalSpin = optimalLaunchConds(3);

angles = [round(optimalAngle)-5:2: round(optimalAngle)+5];
spins = [round(optimalSpin)-5:2:round(optimalSpin)+5];

figure, hold on
for i = 1:length(angles)

    [vel, height] = calcVelocity(angles(i));
    launchConds = [vel, angles(i), spins(i), height];
    [x, final,t] = simBallTrajectory(launchConds);
    dispName = [num2str(round(vel)), ' m/s, ', num2str(angles(i)), ' deg, ',num2str(spins(i)), ' rad/s' ];
    plot(x(1:final,3),x(1:final,4), 'LineWidth', 3,'DisplayName', dispName );
    legend('-DynamicLegend');
end

hold off
legend('show')
xlabel('Ball Distance [m]');
ylabel('Ball Height [m]');
title('Ball Trajectory vs Launch Conditions')
saveas(gcf, 'Trajectory_vs_Conds.png');

%% Plot distance as a function of angle, backspin


angles = 0:60;
spins = 0:10*pi;
%distances = zeros(length(angles)*length(spins),1);
count = 1;


figure, hold on
for i = 1:length(angles)
    for j = 1:length(spins)
        distance = optimizeLaunchConds([-1 , angles(i), spins(j)]);
         %count = count + 1;
         scatter3(angles(i), spins(j), distance);
         xlabel('Angle (deg)');
         ylabel('Spin (rad/s)');
         zlabel('Distance (m)');
    end
end


stop

hold off
legend('show')
xlabel('Ball Distance [m]');
ylabel('Ball Height [m]');
zlabel('Z [m]');
title('Ball Trajectory')