# 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 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')

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.
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!  