Only the final iteration in the loop is saved. How to save all the iterations ? * Note: all are displayed, but not saved except the last *

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Konard Adams
Konard Adams on 18 Oct 2021
Edited: Konard Adams on 19 Oct 2021
Xstart = 100;
Ystart = 0;
Zstart = 10;
Xend = 200;
Yend = 0;
Zend = 10;
Resolution = 100;
%% Equations
DeltaX = (Xend-Xstart)/Resolution;
DeltaY = (Yend-Ystart)/Resolution;
DeltaZ = (Zend-Zstart)/Resolution;
%% Calling Inverse Kinematics to Loop through each point of the line
for i = 1:Resolution
%% calculating actual point
X = Xstart + (DeltaX * i);
Y = Ystart + (DeltaY * i);
Z = Zstart + (DeltaZ * i);
Angles = IKin(X,Y,Z); % Calling inverse function
disp('Angles :'), disp(Angles)
writematrix(Angles,'Angles.xls')
%% calculating past points
A(1,i) = X;
B(1,i) = Y;
C(1,i) = Z;
end
%% Plot
figure
axis square
plot3(A,B,C,'bp-','lineWidth',1,'MarkerSize',3,'MarkerEdge','g','MarkerFace','y')
grid on; hold on;
plot3(Xstart,Ystart,Zstart,'g.', Xend,Yend,Zend ,'r.','MarkerSize',16)
xlabel('X Axis'); ylabel('Y Axis');zlabel('Z Axis');
title('Linear Motion')

Accepted Answer

Cris LaPierre
Cris LaPierre on 18 Oct 2021
You need to use indexing to assign your angles to a different element of Angles each loop. Right now, you overwrite Angles every time. Basically, do the same thing you are already doing with your variables A, B, and C.
  5 Comments
Konard Adams
Konard Adams on 19 Oct 2021
You are appreciated. I got it, much thanks.
I have also noticed by not overwriting each step, it loops faster as well.
cheers!

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