[READ-ONLY] Mirror of https://github.com/jmrplens/A-Lab. Matlab-based software for measuring acoustic parameters and experiments.
acoustics
anechoic
impedance-tube
impulse-response
matlab
measurements
transmission-tube
Update robot
Jose Manuel Requena Plens
(Jul 27, 2021, 12:09 PM +0200)
0f0d7622
420c8720
+86
-113
+1
-1
include/Measurements/Special Research - UPV Robot/UPVRobotCheckConnection_Standalone.m
+1
-1
include/Measurements/Special Research - UPV Robot/UPVRobotCheckConnection_Standalone.m
+23
-1
include/Measurements/Special Research - UPV Robot/UPVRobotHoming_Standalone.m
+23
-1
include/Measurements/Special Research - UPV Robot/UPVRobotHoming_Standalone.m
···
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% Robot parameters
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% URL to connect with robot
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URL = 'http://192.168.4.1/movexyz';
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URL = 'http://172.18.224.210/movexyz';
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% M5Stack URL to check position
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M5StackURLX = 'http://172.18.224.211/';
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M5StackURLY1 = 'http://172.18.224.212/';
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M5StackURLY2 = 'http://172.18.224.213/';
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% =================================================
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% Check problems
···
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if (response.STATUS.X.COMPLETE && response.STATUS.Y.COMPLETE && response.STATUS.Z.COMPLETE)
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% Print status
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disp('Robot Ready!');
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% X M5Stack
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s.ENCODER.NAME = 'EJEX-ANECOICA';
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s.ENCODER.ENCODER_POS = response.STATUS.X.POS;
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SS=jsonencode(s);
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webread([M5StackURLX,'setposition','?json=',SS]);
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% Y1 M5Stack
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s.ENCODER.NAME = 'EJEY1-ANECOICA';
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s.ENCODER.ENCODER_POS = response.STATUS.Y.POS1;
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SS=jsonencode(s);
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webread([M5StackURLY1,'setposition','?json=',SS]);
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% Y2 M5Stack
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s.ENCODER.NAME = 'EJEY2-ANECOICA';
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s.ENCODER.ENCODER_POS = response.STATUS.Y.POS2;
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SS=jsonencode(s);
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webread([M5StackURLY2,'setposition','?json=',SS]);
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break;
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end
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pause(0.01)
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end
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-10
include/Measurements/Special Research - UPV Robot/UPVRobotMoveXYZ_Standalone.m
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include/Measurements/Special Research - UPV Robot/UPVRobotMoveXYZ_Standalone.m
···
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% Robot parameters
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% URL to connect with robot
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URLmove = 'http://192.168.4.1/movexyz';
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URLpos = 'http://192.168.4.1/position';
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URLstatus = 'http://192.168.4.1/status';
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URLmove = 'http://172.18.224.210/movexyz';
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URLpos = 'http://172.18.224.210/position';
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URLstatus = 'http://172.18.224.210/status';
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% M5Stack URL to check position
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M5StackURLX = 'http://172.18.224.211/';
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M5StackURLY1 = 'http://172.18.224.212/';
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M5StackURLY2 = 'http://172.18.224.213/';
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% Size - each axis (mm)
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XLen = 3000;
···
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%s.axis.UNLOCK = true;
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% =================================================
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% Structure to JSON
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json = jsonencode(s);
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% =================================================
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% Options for web response
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options = weboptions("Timeout",5,'ContentType','json');
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% =================================================
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% Homing (if needed)
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% Send commands
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response = webread(URLstatus,options);
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if response.STATUS.X.HOMING_PENDENT || response.STATUS.Y.HOMING_PENDENT || response.STATUS.Z.HOMING_PENDENT
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UPVRobotHoming_Standalone;
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resRobot = webread(URLstatus,options);
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if resRobot.STATUS.X.HOMING_PENDENT || resRobot.STATUS.Y.HOMING_PENDENT || resRobot.STATUS.Z.HOMING_PENDENT
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UPVRobotHoming_Standalone;
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end
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% =================================================
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% Check position and correct
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% X
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response = webread(M5StackURLX,options);
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M5_Xpos = response.ENCODER.ENCODER_POS;
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if abs(resRobot.STATUS.X.POS - M5_Xpos) > 0.25
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s.axis.X.ACTUAL_POSITION = M5_Xpos;
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end
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% Y1
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response = webread(M5StackURLY1,options);
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M5_Y1pos = response.ENCODER.ENCODER_POS;
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if abs(resRobot.STATUS.Y.POS1 - M5_Y1pos) > 0.25
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s.axis.Y.ACTUAL_POSITION_1 = M5_Y1pos;
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end
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% Y2
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response = webread(M5StackURLY2,options);
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M5_Y2pos = response.ENCODER.ENCODER_POS;
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if abs(resRobot.STATUS.Y.POS2 - M5_Y2pos) > 0.25
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s.axis.Y.ACTUAL_POSITION_2 = M5_Y2pos;
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end
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% =================================================
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% Clear if no movement
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% response = webread(URLpos,options);
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% if abs(response.STATUS.X.POS-X) < 0.1 && isfield(s.axis,'X')
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% s.axis = rmfield(s.axis,'X');
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% end
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% if abs(response.STATUS.Y.POS-Y) < 0.1 && isfield(s.axis,'Y')
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% s.axis = rmfield(s.axis,'Y');
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% end
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% if abs(response.STATUS.Z.POS-Z) < 0.1 && isfield(s.axis,'Z')
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% s.axis = rmfield(s.axis,'Z');
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% end
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% =================================================
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% Structure to JSON
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json = jsonencode(s);
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% =================================================
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% Send command and check status
-100
include/Measurements/Special Research - UPV Robot/UPVRobotPostProcessPlotFreq2Dtest.m
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include/Measurements/Special Research - UPV Robot/UPVRobotPostProcessPlotFreq2Dtest.m
···
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function UPVRobotPostProcessPlotFreq2D(app)
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% Slice type
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slice = app.ExtVar.UPVRobotPostProcess.Slice2DType;
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% Load data
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coords = app.ExtVar.UPVRobotPostProcess.Coords;
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% Get slice
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switch slice
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case 'XY'
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a = coords(:,1);
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b = coords(:,2);
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c = coords(:,3);
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d = app.ExtVar.UPVRobotPostProcess.SliceXY_Zvalue;
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case 'XZ'
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a = coords(:,1);
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b = coords(:,3);
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c = coords(:,2);
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d = app.ExtVar.UPVRobotPostProcess.SliceXZ_Yvalue;
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case 'YZ'
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a = coords(:,2);
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b = coords(:,3);
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c = coords(:,1);
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d = app.ExtVar.UPVRobotPostProcess.SliceYZ_Xvalue;
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end
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% Filter data to slice 'd' value
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idx = find(c==d);
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a = a(idx);
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b = b(idx);
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d = ones(size(a)) * d;
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% x = coords(:,1);
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% y = coords(:,2);
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% z = coords(:,3);
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ua = unique(a);
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ub = unique(b);
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ud = unique(d);
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[A,B,D] = meshgrid(ua, ub, ud);
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% Get boundary
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k = boundary(a,b,0.8);
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% Load data
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f = app.ExtVar.UPVRobotPostProcess.FreqVec;
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H = app.ExtVar.UPVRobotPostProcess.FreqResp;
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% View parameters
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FreqView = app.ExtVar.UPVRobotPostProcess.FreqView;
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FreqColorAuto = app.ExtVar.UPVRobotPostProcess.FreqColorAuto;
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FreqMinRange = app.ExtVar.UPVRobotPostProcess.FreqMinRange;
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FreqMaxRange = app.ExtVar.UPVRobotPostProcess.FreqMaxRange;
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% Locate selected frequency
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idx = find(f>=FreqView,1,'first');
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freqResp = H(idx,:);
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FL = scatteredInterpolant(a(:),b(:),freqResp(:),'natural','none');
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Zb = FL(A,B);
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% Axes
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ax = app.ExtUI.UPVRobotPostProcessUIAxesFreq2D;
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cla(ax,'reset')
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% Plot surface
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surf(ax,A,B,D,20*log10(abs(Zb)/2e-5))
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hold(ax,'on')
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% Plot measurement points
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if app.ExtVar.UPVRobotPostProcess.ViewPoints
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scatter3(ax,a,b,d,'k.','linewidth',1)
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end
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% Plot boundary
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if app.ExtVar.UPVRobotPostProcess.ViewBoundary
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plot3(ax,a(k),b(k),d(k),'k','linewidth',1)
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end
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% Axes settings
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shading(ax,'interp')
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view(ax,[0,-90])
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axis(ax,'equal')
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h = colorbar(ax);
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ylabel(h, 'SPL (dB)')
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if ~FreqColorAuto
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caxis(ax,[FreqMinRange,FreqMaxRange])
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end
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colormap(ax,jet(1000))
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xlim(ax,app.ExtVar.UPVRobotPostProcess.XLim)
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ylim(ax,app.ExtVar.UPVRobotPostProcess.YLim)
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zlim(ax,app.ExtVar.UPVRobotPostProcess.ZLim)
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xlabel(ax,'Lx (m)')
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ylabel(ax,'Ly (m)')
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zlabel(ax,'Lz (m)')
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title(ax,sprintf('Frequency: %.0f Hz',f(idx)))
+6
-1
include/Measurements/Special Research - UPV Robot/buildUPVRobot.m
+6
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include/Measurements/Special Research - UPV Robot/buildUPVRobot.m
···
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if ~isfield(app.ExtVar,'UPVRobot')
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app.ExtVar.UPVRobot = struct('XLen',[],'YLen',[],'ZLen',[],'XYSpeed',[],'MaxXYSpeed',[],'ZSpeed',[],...
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'MaxZSpeed',[],'XYAcel',[],'ZAcel',[],'MaxXYAcel',[],'MaxZAcel',[],...
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'RobotURLmove',[],'RobotURLpos',[],'RobotURLstatus',[],...
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'RobotURLmove',[],'RobotURLpos',[],'RobotURLstatus',[],'M5StackURLX',[],'M5StackURLY1',[],'M5StackURLY2',[],...
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'InCh',[],'OutCh',[],'Output',[],'TypeSignal',[],'FolderPath',[],...
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'XRes',[],'YRes',[],'ZRes',[],'XOri',[],'YOri',[],'ZOri',[],'XEnd',[],'YEnd',[],'ZEnd',[],...
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'Restricted',[],'XNaNOri',[],'YNaNOri',[],'ZNaNOri',[],'XNaNEnd',[],'YNaNEnd',[],'ZNaNEnd',[],...
···
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app.ExtVar.UPVRobot.RobotURLmove = 'http://192.168.4.1/movexyz';
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app.ExtVar.UPVRobot.RobotURLpos = 'http://192.168.4.1/position';
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app.ExtVar.UPVRobot.RobotURLstatus = 'http://192.168.4.1/status';
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% M5Stack URL to check position
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app.ExtVar.UPVRobot.M5StackURLX = 'http://172.18.224.211/';
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app.ExtVar.UPVRobot.M5StackURLY1 = 'http://172.18.224.212/';
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app.ExtVar.UPVRobot.M5StackURLY2 = 'http://172.18.224.213/';
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% Size - each axis (m)
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app.ExtVar.UPVRobot.XLen = 3;