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Update Excavator_BOFTOFLoad_plot.m #1

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234 changes: 96 additions & 138 deletions Models/BOF_TOF/Excavator_BOFTOFLoad_plot.m
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Original file line number Diff line number Diff line change
@@ -1,147 +1,105 @@
function Excavator_BOFTOFLoad_plot(ExcvGlobal,fLoad,test_type,pBoom,pStick,pBucket,pinForces,varargin)
% Code to plot load chart
function Excavator_BOFTOFLoad_plot(ExcvGlobal, fLoad, test_type, pBoom, pStick, pBucket, pinForces, varargin)
% Code to plot load chart
% Copyright 2022-2024 The MathWorks, Inc

% Copyright 2022-2024 The MathWorks, Inc
% Define constants for colors and padding
clrPress = '#A9461F';
clrPin = 'blue';
fszPin = 10;
yLimPaddingFactor = 0.05;

% Assume no new figure needed
createFigure = false;

if(nargin>7)
% If optional argument is an axis handle, use it
if(strcmp(get(varargin{1}, 'type'), 'axes') && isa(varargin{1}, 'matlab.ui.control.UIAxes'))
% Validate optional argument and set up axis handle
createFigure = true;
if nargin > 7 && isa(varargin{1}, 'matlab.ui.control.UIAxes') && strcmp(get(varargin{1}, 'type'), 'axes')
ax_h = varargin{1};
else
createFigure = true;
createFigure = false;
end
else
% If no optional argument passed, use standard figure
createFigure = true;
end

if(createFigure)
figString = ['h1_' mfilename];
% Only create a figure if no figure exists
figExist = 0;
fig_hExist = evalin('base',['exist(''' figString ''')']);
if (fig_hExist)
figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']);
% Create figure if necessary
if createFigure
figString = ['h1_' mfilename];
persistent fig_h; % Use persistent variable instead of evalin

if isempty(fig_h) || ~isvalid(fig_h)
fig_h = figure('Name', figString);
end
figure(fig_h);
clf(fig_h);
ax_h = gca;
end
if ~figExist
fig_h = figure('Name',figString);
assignin('base',figString,fig_h);
else
fig_h = evalin('base',figString);

% Clear axis
cla(ax_h, 'reset');

% Add excavator stick figure to plot
Excavator_Pin_Locations_plotGlobal(ExcvGlobal, ax_h);
hold(ax_h, 'on');
axis(ax_h, 'equal');

% Helper function for adding labels
function addLabel(xyLabel, textValue, color, alignment, fontSize)
text(xyLabel(1), xyLabel(2), textValue, ...
'Color', color, 'HorizontalAlignment', alignment, ...
'VerticalAlignment', 'middle', 'FontSize', fontSize);
end
figure(fig_h)
clf(fig_h)
ax_h = gca;
end

% Clear axis - 'reset' needed for UIAxes
cla(ax_h,'reset')

% Add excavator stick figure to plot
Excavator_Pin_Locations_plotGlobal(ExcvGlobal,ax_h)
hold(ax_h,'on');

axis(ax_h,'equal');

%% Label Pressures
clrPress = '#A9461F';
% Label pBoom
xyLabel = (ExcvGlobal.Boom.ToBoomCyl+ExcvGlobal.Chassis.ToBoomCyl)/2;
pr_h = text(xyLabel(1),xyLabel(2),sprintf('%3.1f bar',pBoom),'Color',clrPress,...
'HorizontalAlignment','left','VerticalAlignment','bottom');

% Label pStick
xyLabel = (ExcvGlobal.Boom.ToStickCyl+ExcvGlobal.Stick.ToStickCyl)/2;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f bar',pStick),'Color',clrPress,...
'HorizontalAlignment','left','VerticalAlignment','bottom');

% Label pBucket
xyLabel = (ExcvGlobal.Stick.ToBucketCyl+ExcvGlobal.Linkage.ToBucketCyl)/2;
%xyLabel = (ExcvGlobal.Stick.ToBucketCyl+xyLabel)/2;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f bar',pBucket),'Color',clrPress,...
'HorizontalAlignment','left','VerticalAlignment','bottom');

% Label fLoad
switch test_type
case('TOF')
load_angle = atan2d( ...
ExcvGlobal.Boom.ToStick(2)-ExcvGlobal.Bucket.ToCuttingEdge(2),...
ExcvGlobal.Boom.ToStick(1)-ExcvGlobal.Bucket.ToCuttingEdge(1));
case('BOF')
load_angle = atan2d( ...
ExcvGlobal.Stick.ToBucket(2)-ExcvGlobal.Bucket.ToCuttingEdge(2),...
ExcvGlobal.Stick.ToBucket(1)-ExcvGlobal.Bucket.ToCuttingEdge(1));
case('Load')
load_angle = 180;
% Label pressures
addLabel((ExcvGlobal.Boom.ToBoomCyl + ExcvGlobal.Chassis.ToBoomCyl) / 2, ...
sprintf('%3.1f bar', pBoom), clrPress, 'left', fszPin);

addLabel((ExcvGlobal.Boom.ToStickCyl + ExcvGlobal.Stick.ToStickCyl) / 2, ...
sprintf('%3.1f bar', pStick), clrPress, 'left', fszPin);

addLabel((ExcvGlobal.Stick.ToBucketCyl + ExcvGlobal.Linkage.ToBucketCyl) / 2, ...
sprintf('%3.1f bar', pBucket), clrPress, 'left', fszPin);

% Determine load angle based on test type
switch test_type
case 'TOF'
load_angle = atan2d(ExcvGlobal.Boom.ToStick(2) - ExcvGlobal.Bucket.ToCuttingEdge(2), ...
ExcvGlobal.Boom.ToStick(1) - ExcvGlobal.Bucket.ToCuttingEdge(1));
case 'BOF'
load_angle = atan2d(ExcvGlobal.Stick.ToBucket(2) - ExcvGlobal.Bucket.ToCuttingEdge(2), ...
ExcvGlobal.Stick.ToBucket(1) - ExcvGlobal.Bucket.ToCuttingEdge(1));
case 'Load'
load_angle = 180;
otherwise
error('Invalid test_type');
end

% Plot load vectors
xyfLoad = [ExcvGlobal.Bucket.ToCuttingEdge; ...
ExcvGlobal.Bucket.ToCuttingEdge + [cosd(load_angle + 90), sind(load_angle + 90)] * fLoad / 200];
plot(ax_h, xyfLoad(:, 1), xyfLoad(:, 2), 'r');
plot(ax_h, xyfLoad(2, 1), xyfLoad(2, 2), 's', 'MarkerEdgeColor', 'r', 'MarkerFaceColor', 'r');
addLabel(xyfLoad(2, :), sprintf('%3.1f kN', fLoad), 'r', 'right', fszPin);

% Label pin loads using a loop for efficiency
pinLabels = {
ExcvGlobal.Chassis.ToBoomCyl, pinForces.Boom_Cylinder_To_Chassis;
ExcvGlobal.Boom.ToBoomCyl, pinForces.Boom_Cylinder_To_Boom;
ExcvGlobal.Chassis.ToBoom, pinForces.Boom_To_Chassis;
ExcvGlobal.Boom.ToStickCyl, pinForces.Stick_Cylinder_To_Boom;
ExcvGlobal.Stick.ToStickCyl, pinForces.Stick_Cylinder_To_Stick;
ExcvGlobal.Boom.ToStick, pinForces.Boom_To_Stick;
ExcvGlobal.Stick.ToBucketLinkage, pinForces.Stick_To_Linkage;
ExcvGlobal.Stick.ToBucket, pinForces.Stick_To_Bucket;
ExcvGlobal.Bucket.ToBucketLinkage, pinForces.Bucket_To_Linkage;
ExcvGlobal.Linkage.ToBucketCyl, pinForces.Bucket_Cylinder_To_Linkage
};

for i = 1:size(pinLabels, 1)
addLabel(pinLabels{i, 1}, sprintf('%3.1f kN', pinLabels{i, 2}), clrPin, 'left', fszPin);
end

% Adjust axis limits
ylimits = get(ax_h, 'yLim');
yLimPad = (ylimits(2) - ylimits(1)) * yLimPaddingFactor;
set(ax_h, 'YLim', [ylimits(1) - yLimPad, ylimits(2) + yLimPad]);

% Add legend
text(0.05, 0.15, 'Cylinder Pressure', 'Color', clrPress, 'Units', 'Normalized', 'FontSize', fszPin);
text(0.05, 0.1, 'Bucket Force', 'Color', 'r', 'Units', 'Normalized', 'FontSize', fszPin);
text(0.05, 0.05, 'Pin Load', 'Color', clrPin, 'Units', 'Normalized', 'FontSize', fszPin);
hold off;
end
xyfLoad = [...
ExcvGlobal.Bucket.ToCuttingEdge;
ExcvGlobal.Bucket.ToCuttingEdge+[cosd(load_angle+90) sind(load_angle+90)]*fLoad/200];
dp = [cosd(load_angle+90) sind(load_angle+90)]*1;
plot(xyfLoad(:,1),xyfLoad(:,2),'r')
plot(xyfLoad(2,1),xyfLoad(2,2),'s','MarkerEdgeColor','r','MarkerFaceColor','r');
lo_h = text(xyfLoad(2,1),xyfLoad(2,2),sprintf('%3.1f kN',fLoad),...
'HorizontalAlignment','right','VerticalAlignment','top',...
'Color','r','FontSize',10);

% Label Pin Loads
clrPin = 'blue';
fszPin = 10;
xyLabel = ExcvGlobal.Chassis.ToBoomCyl;
pl_h = text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN',pinForces.Boom_Cylinder_To_Chassis),...
'HorizontalAlignment','left','VerticalAlignment','top','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Boom.ToBoomCyl;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN',pinForces.Boom_Cylinder_To_Boom),...
'HorizontalAlignment','left','VerticalAlignment','top','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Chassis.ToBoom;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN',pinForces.Boom_To_Chassis),...
'HorizontalAlignment','center','VerticalAlignment','bottom','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Boom.ToStickCyl;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN',pinForces.Stick_Cylinder_To_Boom),...
'HorizontalAlignment','right','VerticalAlignment','bottom','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Stick.ToStickCyl;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN',pinForces.Stick_Cylinder_To_Stick),...
'HorizontalAlignment','left','VerticalAlignment','bottom','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Boom.ToStick;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN ',pinForces.Boom_To_Stick),...
'HorizontalAlignment','right','VerticalAlignment','top','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Stick.ToBucketLinkage;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN ',pinForces.Stick_To_Linkage),...
'HorizontalAlignment','right','VerticalAlignment','middle','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Stick.ToBucket;
text(xyLabel(1),xyLabel(2),sprintf('%3.1f kN ',pinForces.Stick_To_Bucket),...
'HorizontalAlignment','right','VerticalAlignment','middle','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Bucket.ToBucketLinkage;
text(xyLabel(1),xyLabel(2),sprintf(' %3.1f kN',pinForces.Bucket_To_Linkage),...
'HorizontalAlignment','left','VerticalAlignment','middle','Color',clrPin,'FontSize',fszPin);

xyLabel = ExcvGlobal.Linkage.ToBucketCyl;
text(xyLabel(1),xyLabel(2),sprintf(' %3.1f kN',pinForces.Bucket_Cylinder_To_Linkage),...
'HorizontalAlignment','left','VerticalAlignment','middle','Color',clrPin,'FontSize',fszPin);

xlabel(ax_h,'m')
ylabel(ax_h,'m')
title(ax_h,['Results of ' test_type ' Test'])


% Ensure there is some space around edges of plot
ylimits = get(ax_h,'yLim');
yLimPad = (ylimits(2)-ylimits(1))*0.05;
set(ax_h,'YLim',[ylimits(1)-yLimPad ylimits(2)+yLimPad])

% Legend
text(0.05,0.15,'Cylinder Pressure','Color',clrPress,'Units','Normalized','FontSize',fszPin);
text(0.05,0.1,'Bucket Force','Color','r','Units','Normalized','FontSize',fszPin);
text(0.05,0.05,'Pin Load','Color',clrPin,'Units','Normalized','FontSize',fszPin);
hold off