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TRAJECTORY.m
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TRAJECTORY.m
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% This script sets the trajectory
%%%%%%%%%%%%%%%%%%%%%%
% Desired Trajectory %
%%%%%%%%%%%%%%%%%%%%%%
% xy coordinates of circle moving left to right
num = 20; % number of cirle segments
r = 100;
x = ceil(-num/2:.5:num/2-.5);
x = x / max(x) * r; % scale to radius size
y = sqrt(r^2 - x.^2); % pythag theorem
y = y .* (mod(1:length(y),2) * 2 - 1); % negate every second element
z = ones(size(y)); % part height
% Robot XY Trajectory for cross-hatch pattern
Xd = [0 x y x y];
Yd = [0 y x y x];
Zd = [0 z*0 z*5 z*10 z*15];
% Sample Time for Set-Point Time Vector
SampleTime = TotalTime / (length(Xd)-1);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Values you should over-write in Control.m %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% =====================
% Set-Point Time Vector
% =====================
Time = 0:SampleTime:TotalTime; % DO NOT CHANGE TotalTime