q1=dlmread('D:\F19\MTE360\Lab1\Lab 1\lab1_q1a.txt')
q1_tab= array2table(q1);
q1_tab.Properties.VariableNames{1} = 'Time';
q1_tab.Properties.VariableNames{2} = 'Input Voltage';
q1_tab.Properties.VariableNames{3} = 'Output Voltage';
findpeaks(q1(:,[3]), 'MinPeakDistance', 500, 'MinPeakHeight', 1);
[pks, locs]=findpeaks(q1(:,[3]), 'MinPeakDistance', 500, 'MinPeakHeight', 1);

q1_tab=table(q1_tab.Time, q1_tab.("Output Voltage"));
q1_tab_append=q1_tab(1500:2000, :);
%Second cycle used

tau_v_Val= 0.6321*pks(2);
[minDistance, indexOfMin]= min(abs(q1_tab_append.Var2-tau_v_Val));
tau_v= q1_tab_append.Var1(indexOfMin)-1.5;

K_v= pks(2);
t_v=tau_v;

open('vel_step.mdl'); % opens the model file
sim('vel_step.mdl'); % runs the simulation

time=ScopeData1.time; %scope data in milliseconds
response=ScopeData1.signals.values;

inTime=ScopeData.time;
inVals=ScopeData.signals.values;

theoretical=table(time,  response);

figure(2)
subplot(2,1,1);
plot(theoretical.time, theoretical.response)
hold on
plot(q1(:,[1]),q1(:,[3]))
xlim([0 4])
ylim([-300 300])
legend({'Theoretical', 'Measured'})
title('Velocity Real vs. Theoretical');
ylabel('Velocity [mm/s]');
xlabel('Time [s]');

subplot(2,1,2);
plot(inTime,inVals)
xlim([0 4])
ylim([-2 2])
title('Input Voltage');
ylabel('Voltage [V]');
xlabel('Time [s]');
legend({'Input'})