test-bench-nano-hexapod/matlab/identif_save.m

tg = slrt;

f = SimulinkRealTime.openFTP(tg);
mget(f, 'data/data.dat');
close(f);

% And we load the data on the Workspace:

data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;

de = data(:, 1:6);   % Measurment displacement (encoder) [m]
Vs = data(:, 7:12);  % Force Sensor [V]
u  = data(:, 13:18); % Control Output [V]
Va = data(:, 19); % Excitation Signal [V]
t  = data(:, end);   % Time [s]

% strut_num = 6;
% save(sprintf('mat/frf_exc_iff_strut_%i_enc_plates_noise.mat', strut_num), 't', 'de', 'Vs', 'u', 'Va');

save('mat/hac_iff_more_lead_nass_scan', 't', 'de', 'Vs', 'u', 'Va');

%%
load('mat/jacobian.mat', 'J');

X = inv(J)*de';
X = X';

%%
figure;
plot3(X(:,1), X(:,2), X(:,3))