I almost forgot, while discussing libpam last time, that the top reason for Matlab R2017b crashing in flames and destruction on Slackware 14.2 is actually MATLABWindow (and the Chromium underneath) that are causing problems. Solution? As always, cheat with libraries.
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Installing newer versions of Matlab on not-PAM-ified linux requires supplying libpam.so.0 somewhere.
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Goal: postprocess what absolute magnetic angle measurement sensor (woah) AS5048a returns with Matlab in order to see plots and make animations.
First result: what in the name of valhalla is the Matlab serial doing?!
Second result: works.
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So, last night I had a problem with a simple walking quadruped robot. The whole problem circles the differences between:
fprintf( robot, '250 250\n') fprintf( robot, test1) fprintf( robot, '%s', test1)
So, it basically boils down to an old problem: how do I get some user-controlled inputs in Matlab?
Keyboard handling in real-time is basically nonexistant, joystick is alright, but the most easy way to get some input and freedom of controlling things is – to poll the mouse position.
Spoiler alert:
xy = get( 0, 'PointerLocation' )
Let’s get going with a short series of tutorials dedicated to nonlinear control examples with Matlab/Octave implementation. First to go: unicycle.
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Quick links:
https://github.com/matlab2tikz/matlab2tikz – Matlab to TikZ (Latex graphics) conversion tool for plots
https://www.sharelatex.com/learn/TikZ_package – TikZ documentation – general graphics
https://www.sharelatex.com/learn/Pgfplots_package – Pgfplots documentation – plotting tool inside Latex
Modifications and examples below.
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Did you know you can tag the plots in Matlab for easier searching? Because I fuckin’ didn’t.
Why so brutal? Well, after 6 years of writing your PhD in Matlab you CAN become furious when you realise instead of keeping the links to the currently opened plots in a global variables and different lists you could’ve been naming them all that time…
Tag the plot: description for searching
aa = plot(2,2);
set(aa, 'Tag', 'foot trajectory' )
findobj('Tag','foot trajectory')
set( findobj('Tag','foot trajectory'), 'XData', [2 3], 'YData', '4 5')
… shit.
This is an old one, but is working quite nice and should be still useful for working with Dynamixel motor (AX-12+, AX-12A).
The goal was to have a nice toolbox used for direct control of Dynamixel motors using USB2Dynamixel or any other USB-Serial (half-duplex, ~1Mbps) adapter.
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