Heyyy, I am working on getting plots of Accelration, Angular Velocity and Magnetic Field and i am pretty close in obtaining them, I am stuck in this error that says:
Index in position 1 exceeds array bounds (must not exceed 10).
I guess that is because the sample rate for my sensor is 10 and it stores 10 values in matrices and my loop exceeds that limit. I just want help in resolving this error. I would be very pleased if someone could modify below code into error free code.
CODE:
%Clearing up ports and all objects
clc
clear all
%Creating Arduino Object
ard = arduino()
%Defining sample rate
fs = 100;
%Creating IMU sensor object
my_imu = mpu9250(ard, 'SampleRate', fs, 'OutputFormat', 'matrix')
%Reading the raw data form sensor and storing them in variables
[my_Accel, my_AngVel, my_Mag] = read(my_imu) %Matrix form
%Provide time frame in seconds
senseFrame = 60;
%Measure approximate execution time of a single read cycle
tic;
[Accel, AngVel, Mag] = read(my_imu);
tDelta = toc;
%Number of samples to be calculated in sensorFrame time frame
numSamples = floor(senseFrame/tDelta);
%Time Vector
tVector = linspace(0, senseFrame, numSamples);
tCorrection = 0;
recordedData = zeros(numSamples, 3, 3);
%Plotting the Data
subplot(3, 1, 1)
hold on
% Create handle to X-axis acceleration animatedline object
hAx = animatedline('color', 'r', 'linewidth', 1.25);
% Create handle to Y-axis acceleration animatedline object
hAy = animatedline('color', 'k', 'linewidth', 1.25);
% Create handle to Z-axis acceleration animatedline object
hAz = animatedline('color', 'b', 'linewidth', 1.25);
legend('A_x (m/s^2)','A_y (m/s^2)','A_z (m/s^2)');
ylabel('Acceleration (m/s^2)');xlabel('Time (s)');
title('Reading Accelerometer values from MPU9250 sensor', 'fontsize', 12);
axis([0 senseFrame -30 30]);
hold off
grid minor
subplot(3, 1, 2)
% Create handle to X-axis angular velocity animatedline object
hVx = animatedline('color', 'r', 'linewidth', 1.25);
% Create handle to Y-axis angular velocity animatedline object
hVy = animatedline('color', 'k', 'linewidth', 1.25);
% Create handle to Z-axis angular velocity animatedline object
hVz = animatedline('color', 'b', 'linewidth', 1.25);
legend('\omega_x (rad/s)','\omega_y (rad/s)','\omega_z (rad/s)');
ylabel('Angular Velocity (rad/s)');xlabel('Time (s)');
title('Reading Angular velocity values from MPU9250 sensor', 'fontsize', 12);
axis([0 senseFrame -10 10]);
hold off
grid minor
subplot(3, 1, 3)
% Create handle to X-axis magnetic field animatedline object
hMagx = animatedline('color', 'r', 'linewidth', 1.25);
% Create handle to Y-axis magnetic field animatedline object
hMagy = animatedline('color', 'k', 'linewidth', 1.25);
% Create handle to Z-axis magnetic field animatedline object
hMagz = animatedline('color', 'b', 'linewidth', 1.5);
legend('\mu_x (\muT)','\mu_y (\muT)','\mu_z (\muT)');
ylabel('Magnetic Field (\muT)');xlabel('Time (s)');
title('Reading Magnetometer values from MPU9250 sensor', 'fontsize', 12);
axis([0 senseFrame -50 50]);
hold off
grid minor
%Read and plot the data from sensor
for i = 1:numSamples
% Read Acceleration, Angular Velocity and Mangnetic field...
% values from the sensor in matrix form
[AccelVal, AngVelVal, MagVal] = read(my_imu);
tic;
addpoints(hAx, tVector(i) + tCorrection, AccelVal(1));
addpoints(hAy, tVector(i) + tCorrection, AccelVal(2));
addpoints(hAz, tVector(i) + tCorrection, AccelVal(3));
addpoints(hVx, tVector(i) + tCorrection, AngVelVal(1));
addpoints(hVy, tVector(i) + tCorrection, AngVelVal(2));
addpoints(hVz, tVector(i) + tCorrection, AngVelVal(3));
addpoints(hMagx, tVector(i) + tCorrection, MagVal(1));
addpoints(hMagy, tVector(i) + tCorrection, MagVal(2));
addpoints(hMagz, tVector(i) + tCorrection, MagVal(3));
recordedData(i, :, 1) = AccelVal(i,:);
recordedData(i, :, 2) = AngVelVal(i,:);
recordedData(i, :, 3) = MagVal(i,:);
tCorrection = toc;
drawnow;
end
