quadratic_regression.pde

// scaling parameters
float max_value = PI;//0.02;
float jrkm = 0.00;//1;
float accm = 0.01;
float velm = 0.1;
float posm = 1.00;
float diffm = 50.0; // per phase//velm*10;//

// data set parameters
int num_references = 0;
int[] viewport = {0, 1000};
float dt = 0.000200;
int inspection_point = 0;
boolean use_measurement = false;
int cnt = 0;

//model parameters
float p0 = 0;
float v0 = 0;
float a0 = 0;//200;
float j0 = 0;
float s0 = 0;
float c0 = 0;
//float tt = 0.2;
//float pt = 1.5*PI/2;//PI;//PI/2;//
//float vt = 14;
//float at = 0;

float target[][] = {{0.025, 0.125, 1.0},
                    {0.0, PI/4, PI/4},
                    {0.0, 0.0, 0.0},
                    {0.0, 0.0, 0.0}
};

// noise parameters
float lsb = 1.0 * PI / pow(2, 14); // lsb of 14 bit rotary encoder
float an = 0;
float vn = 0;
float pn = 4.0 * lsb;

// filter parameters
float am = 0.1;
float vm = 0.1;
float pm = 1.0;
int average_samples = 32;

// regression parameters
boolean use_cubic_regression = true;
float cubic_multiplier = 2;
int regression_samples = 64;
int direction = 0;
float regression_window;

void setup() {
  size(1680, 1050, P2D);
  frameRate(24);
  background(0);
  pixelDensity(displayDensity());
  compute_once();
  //noLoop();
  println(nf(dt, 0, 6) + ", " + regression_samples + ", " + nf(regression_window, 0, 3));
}


void draw() {
  background(0);
  compute_samples();
  viewport[1] = (int)(target[0][1]/dt);
  set_viewport(viewport);
  draw_coordinate_system();
  draw_graphs();
  if(roll_inspection_point) {
    inspection_point++;    
  } else {
    if(mouse_inspection_point) {
      inspection_point = (int)(mouseX / xwidth);
    }
  }
  //cnt++;
  //dt += 0.000001;
  regression_samples = (int)(round(regression_window / dt));
  if(cnt > frameRate) {
    cnt = 0;
    println(nf(dt, 0, 6) + ", " + regression_samples + ", " + nf(regression_window, 0, 3));
  }
}

void keyPressed() {
   roll_inspection_point = false;
   mouse_inspection_point = false;
   if(key == ' ') {
     roll_inspection_point = true;
   }
   if(keyCode == LEFT) {
     inspection_point--;
   }
   if(keyCode == RIGHT) {
     inspection_point++;
   }
}

void mousePressed() {
  roll_inspection_point = false;
  mouse_inspection_point = true;
  inspection_point = (int)(mouseX / xwidth);
}