Initial commit R2024b

Overview/html/mars_rover_terrain.html

@@ -7,9 +7,9 @@
 To make changes, update the MATLAB code and republish this document.
       -->
 <title>Mars Rover on Uneven Terrain</title>
-<meta name="generator" content="MATLAB 24.1">
+<meta name="generator" content="MATLAB 24.2">
 <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/">
-<meta name="DC.date" content="2024-03-21">
+<meta name="DC.date" content="2024-09-12">
 <meta name="DC.source" content="mars_rover_terrain.m">
 <style type="text/css">
 html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
@@ -142,8 +142,8 @@ <h2 id="1">Model</h2>
 <p>This shows the results for path 2 where the rover is driven with an ideal torque sources on flat terrain. To simplify the test, we put the rover on flat ground, but follow the same x-y trajectory as the previous test. We can see the difference in wheel torques.</p>
 <img vspace="5" hspace="5" src="mars_rover_terrain_11.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_12.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_13.png" alt=""> <h2 id="9">Simulation Results from Simscape Logging: Path 2 Electrical</h2>
 <p>The model is configured to model the electrical system of the powertrain, including 6 motors for propulsion and 4 motors for steering. The results of the simulation include the current drawn by the motors as it follows path 2.</p>
-<img vspace="5" hspace="5" src="mars_rover_terrain_14.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_15.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_16.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_17.png" alt=""> <p class="footer">Copyright 2021-2024 The MathWorks, Inc.<br>
-<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024a</a>
+<img vspace="5" hspace="5" src="mars_rover_terrain_14.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_15.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_16.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_17.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_18.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_19.png" alt=""> <p class="footer">Copyright 2021-2024 The MathWorks, Inc.<br>
+<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024b</a>
 <br>
 </p>
 </div>

Scripts_Data/Parameters/mars_rover_params_chassis.m

@@ -194,7 +194,7 @@
 Rover.Powertrain.Steer.Motor.efficiency   = 25/30*100; % percent
 Rover.Powertrain.Steer.Motor.eff_meas_spd = 5000;      % rpm
 Rover.Powertrain.Steer.Motor.eff_meas_trq = 300;       % N*m
-Rover.Powertrain.Steer.Motor.damping      = 1e-6;      % (N*m/(rad/s))
+Rover.Powertrain.Steer.Motor.damping      = 1.5e-2;      % (N*m/(rad/s))
 Rover.Powertrain.Steer.Motor.gear_ratio   = 243;
 
 Rover.Powertrain.Drive.Motor.max_torque   = 500;       % N*m
@@ -203,7 +203,7 @@
 Rover.Powertrain.Drive.Motor.efficiency   = 25/30*100; % percent
 Rover.Powertrain.Drive.Motor.eff_meas_spd = 5000;      % rpm
 Rover.Powertrain.Drive.Motor.eff_meas_trq = 300;       % N*m
-Rover.Powertrain.Drive.Motor.damping      = 1e-6;      % (N*m/(rad/s))
+Rover.Powertrain.Drive.Motor.damping      = 1.5e-2;      % (N*m/(rad/s))
 Rover.Powertrain.Drive.Motor.gear_ratio   = 243;
 
 

Scripts_Data/Plots/mars_rover_terrain_plot4_motorspdcurr.m

@@ -19,12 +19,29 @@
 
 RoverBus = logsout_mars_rover_terrain.get('RoverBus');
 simlog_t   = RoverBus.Values.Chassis.Powertrain.Drive.w.L1.Time;
-simlog_wL1 = RoverBus.Values.Chassis.Powertrain.Drive.w.L1.Data*30/pi;
-simlog_wL2 = RoverBus.Values.Chassis.Powertrain.Drive.w.L2.Data*30/pi;
-simlog_wL3 = RoverBus.Values.Chassis.Powertrain.Drive.w.L3.Data*30/pi;
-simlog_wR1 = RoverBus.Values.Chassis.Powertrain.Drive.w.R1.Data*30/pi;
-simlog_wR2 = RoverBus.Values.Chassis.Powertrain.Drive.w.R2.Data*30/pi;
-simlog_wR3 = RoverBus.Values.Chassis.Powertrain.Drive.w.R3.Data*30/pi;
+simlog_wL1 = RoverBus.Values.Chassis.Powertrain.Drive.w.L1.Data;
+simlog_wL2 = RoverBus.Values.Chassis.Powertrain.Drive.w.L2.Data;
+simlog_wL3 = RoverBus.Values.Chassis.Powertrain.Drive.w.L3.Data;
+simlog_wR1 = RoverBus.Values.Chassis.Powertrain.Drive.w.R1.Data;
+simlog_wR2 = RoverBus.Values.Chassis.Powertrain.Drive.w.R2.Data;
+simlog_wR3 = RoverBus.Values.Chassis.Powertrain.Drive.w.R3.Data;
+simlog_wLS1 = RoverBus.Values.Chassis.Powertrain.Steer.w.L1.Data;
+simlog_wLS3 = RoverBus.Values.Chassis.Powertrain.Steer.w.L3.Data;
+simlog_wRS1 = RoverBus.Values.Chassis.Powertrain.Steer.w.R1.Data;
+simlog_wRS3 = RoverBus.Values.Chassis.Powertrain.Steer.w.R3.Data;
+
+CtrlBus = logsout_mars_rover_terrain.get('CtrlBus');
+simlog_trqL1 = CtrlBus.Values.Chassis.Drive.trq.L1.Data/Rover.Powertrain.Drive.Motor.gear_ratio;
+simlog_trqL2 = CtrlBus.Values.Chassis.Drive.trq.L2.Data/Rover.Powertrain.Drive.Motor.gear_ratio;
+simlog_trqL3 = CtrlBus.Values.Chassis.Drive.trq.L3.Data/Rover.Powertrain.Drive.Motor.gear_ratio;
+simlog_trqR1 = CtrlBus.Values.Chassis.Drive.trq.R1.Data/Rover.Powertrain.Drive.Motor.gear_ratio;
+simlog_trqR2 = CtrlBus.Values.Chassis.Drive.trq.R2.Data/Rover.Powertrain.Drive.Motor.gear_ratio;
+simlog_trqR3 = CtrlBus.Values.Chassis.Drive.trq.R3.Data/Rover.Powertrain.Drive.Motor.gear_ratio;
+simlog_trqLS1 = CtrlBus.Values.Chassis.Steer.trq.L1.Data/Rover.Powertrain.Steer.Motor.gear_ratio;
+simlog_trqLS3 = CtrlBus.Values.Chassis.Steer.trq.L3.Data/Rover.Powertrain.Steer.Motor.gear_ratio;
+simlog_trqRS1 = CtrlBus.Values.Chassis.Steer.trq.R1.Data/Rover.Powertrain.Steer.Motor.gear_ratio;
+simlog_trqRS3 = CtrlBus.Values.Chassis.Steer.trq.R3.Data/Rover.Powertrain.Steer.Motor.gear_ratio;
+
 
 if(isfield(RoverBus.Values.Chassis.Powertrain.Drive,'i'))
     simlog_iL1 = RoverBus.Values.Chassis.Powertrain.Drive.i.L1.Data;
@@ -47,13 +64,13 @@
 end
 
 ah(1) = subplot(211);
-plot(simlog_t, simlog_wL1,'DisplayName','L1','LineWidth',1)
+plot(simlog_t, simlog_wL1*30/pi,'DisplayName','L1','LineWidth',1)
 hold on
-plot(simlog_t, simlog_wL2,'DisplayName','L2','LineWidth',1)
-plot(simlog_t, simlog_wL3,'DisplayName','L3','LineWidth',1)
-plot(simlog_t, simlog_wR1,'DisplayName','R1','LineWidth',1)
-plot(simlog_t, simlog_wR2,'DisplayName','R2','LineWidth',1)
-plot(simlog_t, simlog_wR3,'DisplayName','R3','LineWidth',1)
+plot(simlog_t, simlog_wL2*30/pi,'DisplayName','L2','LineWidth',1)
+plot(simlog_t, simlog_wL3*30/pi,'DisplayName','L3','LineWidth',1)
+plot(simlog_t, simlog_wR1*30/pi,'DisplayName','R1','LineWidth',1)
+plot(simlog_t, simlog_wR2*30/pi,'DisplayName','R2','LineWidth',1)
+plot(simlog_t, simlog_wR3*30/pi,'DisplayName','R3','LineWidth',1)
 hold off;
 title('Motor Speed');
 legend('Location','Best');
@@ -77,4 +94,31 @@
 
 grid on
 
-linkaxes(ah,'x');
+linkaxes(ah,'x');
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h4a_mars_rover_terrain', 'var') || ...
+        ~isgraphics(h4a_mars_rover_terrain, 'figure')
+    h4a_mars_rover_terrain = figure('Name', 'mars_rover_terrain');
+end
+figure(h4a_mars_rover_terrain)
+clf(h4a_mars_rover_terrain)
+
+simlog_drive_pwr = ...
+    simlog_wL1.*simlog_trqL1 + ...
+    simlog_wL2.*simlog_trqL2 + ...
+    simlog_wL3.*simlog_trqL3 + ...
+    simlog_wR1.*simlog_trqR1 + ...
+    simlog_wR2.*simlog_trqR2 + ...
+    simlog_wR3.*simlog_trqR3 + ...
+    simlog_wLS1.*simlog_trqLS1 + ...
+    simlog_wLS3.*simlog_trqLS3 + ...
+    simlog_wRS1.*simlog_trqRS1 + ...
+    simlog_wRS3.*simlog_trqRS3;
+
+plot(simlog_t,simlog_drive_pwr)
+
+title('Power Consumption, Drive and Steer Motors')
+ylabel('Power (W)')
+xlabel('Time (s)')
+grid on

Workflows/Grid_Surface/Overview/html/mars_rover_workflow_grid_surface.html

@@ -7,9 +7,9 @@
 To make changes, update the MATLAB code and republish this document.
       -->
 <title>Generating Grid Surface from STL Geometry: Terrain</title>
-<meta name="generator" content="MATLAB 24.1">
+<meta name="generator" content="MATLAB 24.2">
 <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/">
-<meta name="DC.date" content="2024-03-21">
+<meta name="DC.date" content="2024-09-12">
 <meta name="DC.source" content="mars_rover_workflow_grid_surface.m">
 <style type="text/css">
 html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
@@ -168,7 +168,7 @@ <h2 id="3">Perform Interpolation</h2>
 </pre>
 <p class="footer">
 <br>
-<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024a</a>
+<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024b</a>
 <br>
 </p>
 </div>

Workflows/Inverse_Kinematics/Overview/html/mars_rover_workflow_inverse_kinematics.html

@@ -7,9 +7,9 @@
 To make changes, update the MATLAB code and republish this document.
       -->
 <title>Planning Trajectory for Rover Arm: Inverse Kinematics</title>
-<meta name="generator" content="MATLAB 24.1">
+<meta name="generator" content="MATLAB 24.2">
 <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/">
-<meta name="DC.date" content="2024-03-21">
+<meta name="DC.date" content="2024-09-12">
 <meta name="DC.source" content="mars_rover_workflow_inverse_kinematics.m">
 <style type="text/css">
 html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
@@ -220,7 +220,7 @@ <h2 id="15">Test Model with Joint Angles Obtained from Inverse Kinematic Analysi
 </p>
 <img vspace="5" hspace="5" src="mars_rover_workflow_inverse_kinematics_04.png" alt=""> <p class="footer">
 <br>
-<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024a</a>
+<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024b</a>
 <br>
 </p>
 </div>

Workflows/Point_Cloud/Overview/html/mars_rover_workflow_point_cloud.html

@@ -7,9 +7,9 @@
 To make changes, update the MATLAB code and republish this document.
       -->
 <title>Extracting Point Cloud from STL Geometry: Wheel</title>
-<meta name="generator" content="MATLAB 24.1">
+<meta name="generator" content="MATLAB 24.2">
 <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/">
-<meta name="DC.date" content="2024-03-21">
+<meta name="DC.date" content="2024-09-12">
 <meta name="DC.source" content="mars_rover_workflow_point_cloud.m">
 <style type="text/css">
 html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
@@ -181,7 +181,7 @@ <h2 id="1">Read in the STL file, plot mesh</h2>
 </pre>
 <p class="footer">
 <br>
-<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024a</a>
+<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024b</a>
 <br>
 </p>
 </div>

resources/project/WS7L7U3R0F3ft4esx_Z4zRwM4vQ/70J_qL8A8RULe3VYByPLjFHe6pEd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="96c40e67-021b-48a2-9371-288e60f8854b"/>
+    </Category>
+</Info>

resources/project/WS7L7U3R0F3ft4esx_Z4zRwM4vQ/70J_qL8A8RULe3VYByPLjFHe6pEp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="mars_rover_terrain_18.png" type="File"/>