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plot_simulation.m
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plot_simulation.m
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%% Setup
clc;
close all
state_vector_rows = 4;
state_vector_cols = 3;
xlabel_Time = 'Time [s]';
m_to_cm = 1e2; %convert meters to centimeters;
rad_to_deg = 180 / pi; %convert radians to degrees;
N_to_uN = 1e6; %convert newtons to millnewtons
% model = 'full_feedback_system';
% varList = Simulink.findVars(model, 'WorkspaceType', 'base')
% Simulink.saveVars('ionocraft_drag_data.m','ModelParam')
sim('iros2018_control_yaw.slx');
state_vector.Data(abs(state_vector.Data) < 1e-5) = 0; %get rid of anything less than 10um, 10um/s, 10urad, 10urad/s
thrust_and_torque_inputs.Data(abs(thrust_and_torque_inputs.Data) < 1e-9) = 0; %get rid of anything less than 1nN or 100nN*cm
%% 3D PLOT - Attempt
%{
% figure;
% X = state_vector.Data(:,1);
% Y = state_vector.Data(:,2);
% Z = state_vector.Data(:,3);
% curve = animatedline('LineWidth',2);
% set(gca,'XLim',[0 50],'YLim',[0 50],'ZLim',[0 50]);
% view(43,24);
% hold on;
% grid on;
% xlabel('X [cm]');
% ylabel('Y [cm]');
% zlabel('Z [cm]');
% for i=1:50:length(X)
% %addpoints(curve,X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm);
% head_xyz = scatter3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,'o','filled','MarkerFaceColor','b','MarkerEdgeColor','b');
% pause(0.001);
% head_xy = scatter3(X(i)*m_to_cm,Y(i)*m_to_cm,0,'s','filled','MarkerFaceColor','k','MarkerEdgeColor','k');
% drawnow
% %delete(head_xyz);
% %delete(head_xy);
% end
%}
%% 3D QUIVER PLOT
if video_flag == 1 % Should change it so only displays to flag is on, and different flag for recording
% TODO: Timings
% Open Video Writer
v = VideoWriter('3D_simulation.avi');
open(v);
figure;
% subplot(1,2,1);
X = state_vector.Data(:,1);
Y = state_vector.Data(:,2);
Z = state_vector.Data(:,3);
psi = state_vector.Data(:,4);
theta = state_vector.Data(:,5);
phi = state_vector.Data(:,6);
curve = animatedline('LineWidth',2);
set(gca,'XLim',x_lim,'YLim',y_lim,'ZLim',z_lim);
view(view_1,view_2);
hold on;
grid on;
xlabel('X [cm]');
ylabel('Y [cm]');
zlabel('Z [cm]');
%plot X on xy plane
% quiver3(-1000,-1000,0,5000,5000,0,'ShowArrowHead','Off','Color','k');
% quiver3(-1000,1000,0,5000,-5000,0,'ShowArrowHead','Off','Color','k');
for i=1:video_frame_frequency:length(X)
yaw = psi(i);
pitch = theta(i);
roll = phi(i);
ionocraft_length = 1; %[cm], length of ionocraft in simulation
%% Craft
%compute ionocraft length vectors in the global frame
x_vec_global_pos = vpa(subs(Body2Global)) * [ionocraft_length; 0; 0];
x_vec_global_neg = vpa(subs(Body2Global)) * [-ionocraft_length; 0; 0];
y_vec_global_pos = vpa(subs(Body2Global)) * [0; ionocraft_length; 0];
y_vec_global_neg = vpa(subs(Body2Global)) * [0; -ionocraft_length; 0];
%plot four main ionocraft length vectors in the global frame
x_vec_global_pos_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,x_vec_global_pos(1),x_vec_global_pos(2),x_vec_global_pos(3),'ShowArrowHead','Off','Color','r');
x_vec_global_neg_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,x_vec_global_neg(1),x_vec_global_neg(2),x_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
y_vec_global_pos_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,y_vec_global_pos(1),y_vec_global_pos(2),y_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
y_vec_global_neg_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,y_vec_global_neg(1),y_vec_global_neg(2),y_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
%plot four offset x body frame vectors in the inertial frame
x_vec_global_pos_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),Z(i)*m_to_cm + y_vec_global_pos(3),x_vec_global_pos(1),x_vec_global_pos(2),x_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
x_vec_global_pos_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),Z(i)*m_to_cm + y_vec_global_neg(3),x_vec_global_pos(1),x_vec_global_pos(2),x_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
x_vec_global_neg_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),Z(i)*m_to_cm + y_vec_global_pos(3),x_vec_global_neg(1),x_vec_global_neg(2),x_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
x_vec_global_neg_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),Z(i)*m_to_cm + y_vec_global_neg(3),x_vec_global_neg(1),x_vec_global_neg(2),x_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
%plot four offset y body frame vectors in the inertial frame
y_vec_global_pos_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),Z(i)*m_to_cm + x_vec_global_pos(3),y_vec_global_pos(1),y_vec_global_pos(2),y_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
y_vec_global_pos_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),Z(i)*m_to_cm + x_vec_global_neg(3),y_vec_global_pos(1),y_vec_global_pos(2),y_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
y_vec_global_neg_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),Z(i)*m_to_cm + x_vec_global_pos(3),y_vec_global_neg(1),y_vec_global_neg(2),y_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
y_vec_global_neg_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),Z(i)*m_to_cm + x_vec_global_neg(3),y_vec_global_neg(1),y_vec_global_neg(2),y_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
% %% Shadow
%
% %plot four main ionocraft length vectors projected onto the xy plane of the global frame
% x_vec_global_pos_xy_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,x_vec_global_pos(1),x_vec_global_pos(2),0,'ShowArrowHead','Off','Color','r');
% x_vec_global_neg_xy_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,x_vec_global_neg(1),x_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
% y_vec_global_pos_xy_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,y_vec_global_pos(1),y_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
% y_vec_global_neg_xy_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,y_vec_global_neg(1),y_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
%
% %plot four offset x body frame vectors in the xy plane of the global frame
% x_vec_global_pos_xy_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),0,x_vec_global_pos(1),x_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
% x_vec_global_pos_xy_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),0,x_vec_global_pos(1),x_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
% x_vec_global_neg_xy_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),0,x_vec_global_neg(1),x_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
% x_vec_global_neg_xy_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),0,x_vec_global_neg(1),x_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
%
% %plot four offset y body frame vectors in the xy plane of the global frame
% y_vec_global_pos_xy_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),0,y_vec_global_pos(1),y_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
% y_vec_global_pos_xy_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),0,y_vec_global_pos(1),y_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
% y_vec_global_neg_xy_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),0,y_vec_global_neg(1),y_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
% y_vec_global_neg_xy_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),0,y_vec_global_neg(1),y_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
%% Insert zoomed here
%% Actual plotting
drawnow
frame = getframe(gcf);
writeVideo(v,frame);
%% Deleting for next frame
delete(x_vec_global_pos_head);
delete(x_vec_global_neg_head);
delete(y_vec_global_pos_head);
delete(y_vec_global_neg_head);
delete(x_vec_global_pos_offset_1_head);
delete(x_vec_global_pos_offset_2_head);
delete(x_vec_global_neg_offset_1_head);
delete(x_vec_global_neg_offset_2_head);
delete(y_vec_global_pos_offset_1_head);
delete(y_vec_global_pos_offset_2_head);
delete(y_vec_global_neg_offset_1_head);
delete(y_vec_global_neg_offset_2_head);
% delete(x_vec_global_pos_xy_head);
% delete(x_vec_global_neg_xy_head);
% delete(y_vec_global_pos_xy_head);
% delete(y_vec_global_neg_xy_head);
%
% delete(x_vec_global_pos_xy_offset_1_head);
% delete(x_vec_global_pos_xy_offset_2_head);
% delete(x_vec_global_neg_xy_offset_1_head);
% delete(x_vec_global_neg_xy_offset_2_head);
%
% delete(y_vec_global_pos_xy_offset_1_head);
% delete(y_vec_global_pos_xy_offset_2_head);
% delete(y_vec_global_neg_xy_offset_1_head);
% delete(y_vec_global_neg_xy_offset_2_head);
end
%% Last Frame
%plot four main ionocraft length vectors in the global frame
x_vec_global_pos_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,x_vec_global_pos(1),x_vec_global_pos(2),x_vec_global_pos(3),'ShowArrowHead','Off','Color','r');
x_vec_global_neg_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,x_vec_global_neg(1),x_vec_global_neg(2),x_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
y_vec_global_pos_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,y_vec_global_pos(1),y_vec_global_pos(2),y_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
y_vec_global_neg_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,Z(i)*m_to_cm,y_vec_global_neg(1),y_vec_global_neg(2),y_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
%plot four offset x body framvectors in the inertial frame
x_vec_global_pos_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),Z(i)*m_to_cm + y_vec_global_pos(3),x_vec_global_pos(1),x_vec_global_pos(2),x_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
x_vec_global_pos_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),Z(i)*m_to_cm + y_vec_global_neg(3),x_vec_global_pos(1),x_vec_global_pos(2),x_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
x_vec_global_neg_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),Z(i)*m_to_cm + y_vec_global_pos(3),x_vec_global_neg(1),x_vec_global_neg(2),x_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
x_vec_global_neg_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),Z(i)*m_to_cm + y_vec_global_neg(3),x_vec_global_neg(1),x_vec_global_neg(2),x_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
%plot four offset y body frame vectors in the inertial frame
y_vec_global_pos_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),Z(i)*m_to_cm + x_vec_global_pos(3),y_vec_global_pos(1),y_vec_global_pos(2),y_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
y_vec_global_pos_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),Z(i)*m_to_cm + x_vec_global_neg(3),y_vec_global_pos(1),y_vec_global_pos(2),y_vec_global_pos(3),'ShowArrowHead','Off','Color','b');
y_vec_global_neg_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),Z(i)*m_to_cm + x_vec_global_pos(3),y_vec_global_neg(1),y_vec_global_neg(2),y_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
y_vec_global_neg_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),Z(i)*m_to_cm + x_vec_global_neg(3),y_vec_global_neg(1),y_vec_global_neg(2),y_vec_global_neg(3),'ShowArrowHead','Off','Color','b');
%plot four main ionocraft length vectors projected onto the xy plane of the global frame
x_vec_global_pos_yaw_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,x_vec_global_pos(1),x_vec_global_pos(2),0,'ShowArrowHead','Off','Color','r');
x_vec_global_neg_yaw_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,x_vec_global_neg(1),x_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
y_vec_global_pos_yaw_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,y_vec_global_pos(1),y_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
y_vec_global_neg_yaw_head = quiver3(X(i)*m_to_cm,Y(i)*m_to_cm,0,y_vec_global_neg(1),y_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
%plot four offset x body frame vectors in the xy plane of the global frame
x_vec_global_pos_xy_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),0,x_vec_global_pos(1),x_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
x_vec_global_pos_xy_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),0,x_vec_global_pos(1),x_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
x_vec_global_neg_xy_offset_1_head = quiver3(X(i)*m_to_cm + y_vec_global_pos(1),Y(i)*m_to_cm + y_vec_global_pos(2),0,x_vec_global_neg(1),x_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
x_vec_global_neg_xy_offset_2_head = quiver3(X(i)*m_to_cm + y_vec_global_neg(1),Y(i)*m_to_cm + y_vec_global_neg(2),0,x_vec_global_neg(1),x_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
%plot four offset y body frame vectors in the xy plane of the global frame
y_vec_global_pos_xy_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),0,y_vec_global_pos(1),y_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
y_vec_global_pos_xy_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),0,y_vec_global_pos(1),y_vec_global_pos(2),0,'ShowArrowHead','Off','Color','k');
y_vec_global_neg_xy_offset_1_head = quiver3(X(i)*m_to_cm + x_vec_global_pos(1),Y(i)*m_to_cm + x_vec_global_pos(2),0,y_vec_global_neg(1),y_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
y_vec_global_neg_xy_offset_2_head = quiver3(X(i)*m_to_cm + x_vec_global_neg(1),Y(i)*m_to_cm + x_vec_global_neg(2),0,y_vec_global_neg(1),y_vec_global_neg(2),0,'ShowArrowHead','Off','Color','k');
%% Close Video Writer
close(v);
end
%% STATE VARIABLES PLOT
figure;
for i = 1:12
subplot(state_vector_rows,state_vector_cols,i);
if i == 1
plot(state_vector.Time,state_vector.Data(:,i) * m_to_cm);
ylabel('X [cm]');
title('X');
elseif i == 2
plot(state_vector.Time,state_vector.Data(:,i) * m_to_cm);
ylabel('Y [cm]');
title('Y');
elseif i == 3
plot(state_vector.Time,state_vector.Data(:,i) * m_to_cm);
ylabel('Z [cm]');
title('Z');
elseif i == 12
hold on
plot(state_vector.Time,estimates.Data(:,3), 'color',[0.9100 0.4100 0.1700]);
plot(state_vector.Time,accel_z.Data(:,1), 'b');
ylabel('Z Accel [m/s^2]');
title('Z Accel');
hold off
elseif i == 4
plot(state_vector.Time,state_vector.Data(:,i) * rad_to_deg);
ylabel('yaw [deg]');
title('Yaw');
elseif i == 5
hold on
plot(state_vector.Time,estimates.Data(:,i) * rad_to_deg, 'color',[0.9100 0.4100 0.1700]);
plot(state_vector.Time,state_vector.Data(:,i) * rad_to_deg, 'b');
ylabel('pitch [deg]');
title('Pitch');
hold off
elseif i == 6
hold on
plot(state_vector.Time,estimates.Data(:,i) * rad_to_deg, 'color',[0.9100 0.4100 0.1700]);
plot(state_vector.Time,state_vector.Data(:,i) * rad_to_deg, 'b');
ylabel('roll [deg]');
title('Roll');
hold off
elseif i == 7
plot(state_vector.Time,state_vector.Data(:,i) * m_to_cm);
ylabel('vx [cm/s]');
title('vx');
elseif i == 8
plot(state_vector.Time,state_vector.Data(:,i) * m_to_cm);
ylabel('vy [cm/s]');
title('vy');
elseif i == 9
plot(state_vector.Time,state_vector.Data(:,i) * m_to_cm);
ylabel('vz [cm/s]');
title('vz');
elseif i == 10
plot(state_vector.Time,state_vector.Data(:,i) * rad_to_deg);
ylabel('wx [deg/s]');
title('wx');
elseif i == 11
plot(state_vector.Time,state_vector.Data(:,i) * rad_to_deg);
ylabel('wy [deg/s]');
title('wy');
elseif i == 120
plot(state_vector.Time,state_vector.Data(:,i) * rad_to_deg);
ylabel('wz [deg/s]');
title('wz');
end
xlabel(xlabel_Time);
end
%% THRUST AND TORQUE INPUT PLOTS
%{
% thrust_and_torque_inputs_rows = 4;
% thrust_and_torque_inputs_cols = 1;
% x_label_Time = 'Time [s]';
% figure;
% for i = 1:4
% subplot(thrust_and_torque_inputs_rows, thrust_and_torque_inputs_cols, i);
% if i == 1
% plot(thrust_and_torque_inputs.Time,thrust_and_torque_inputs.Data(:,i) * N_to_uN);
% ylabel('T [uN]');
% title('Thrust');
% elseif i == 2
% plot(thrust_and_torque_inputs.Time,thrust_and_torque_inputs.Data(:,i) * N_to_uN * m_to_cm);
% ylabel('tauz [uN x cm]');
% title('Tau Z');
% elseif i == 3
% plot(thrust_and_torque_inputs.Time,thrust_and_torque_inputs.Data(:,i) * N_to_uN * m_to_cm);
% ylabel('tauy [uN x cm]');
% title('Tau Y');
% elseif i == 4
% plot(thrust_and_torque_inputs.Time,thrust_and_torque_inputs.Data(:,i) * N_to_uN * m_to_cm);
% ylabel('taux [uN x cm]');
% title('Tau X');
% end
% xlabel(xlabel_Time);
% end
%}
%% FORCE INPUT PLOTS
force_inputs_rows = 4;
force_inputs_cols = 1;
x_label_Time = 'Time [s]';
figure;
for i = 1:4
subplot(force_inputs_rows, force_inputs_cols, i);
if i == 1
plot(force_inputs.Time,force_inputs.Data(:,i) * N_to_uN);
ylabel('F4 [uN]');
title('F4');
elseif i == 2
plot(force_inputs.Time,force_inputs.Data(:,i) * N_to_uN);
ylabel('F3 [uN]');
title('F3');
elseif i == 3
plot(force_inputs.Time,force_inputs.Data(:,i) * N_to_uN);
ylabel('F2 [uN]');
title('F2');
elseif i == 4
plot(force_inputs.Time,force_inputs.Data(:,i) * N_to_uN);
ylabel('F1 [uN]');
title('F1');
end
xlabel(xlabel_Time);
end