File size: 964 Bytes
b14fa47 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 | % Load parameters for wheel loader and CVT models
% Copyright 2023-2026 The MathWorks, Inc.
sm_wheel_loader_params
web('Wheel_Loader_Design_Overview.html');
%% Load cylinder trajectories
load('sm_wheel_loader_test_cylinder_traj.mat');
% Add toothbar trajectory
Toothbar.t = [0 13 15.5 18 20 57 59 60 62 70]';
Toothbar.p = [0 0 1 1 0 0 1 1 0 0]'*-73.565;
testInput.BucketYCycle.Toothbar = Toothbar;
testInput.BucketYCycle.Toothbar.p = Toothbar.p*0;
testInput.GrappleLogCycle.Toothbar = Toothbar;
clear Toothbar
bucketLoad.t = [0 15.8 17.0 54.0 57.5 70]';
bucketLoad.z = [0 0 1 1 0 0]'*0.5;
testInput.GrappleLogCycle.bucketLoad = bucketLoad;
testInput.GrappleLogCycle.bucketLoad.z = bucketLoad.z*0;
testInput.BucketYCycle.bucketLoad = bucketLoad;
clear bucketLoad
testInput.Active = testInput.BucketYCycle;
%% Load Operator Commands
load('sm_wheel_loader_test_operator_cmd.mat')
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