2

clc;
% Given:
A=500; % acceleration mm/sec^2
D=-500; % deceleration mm/sec^2
F=100; % feedrate (velocity) mm/sec
L=50; % travel length mm
Ts=0.001; % sampling period sec

T1=F/A; % from equation 2
T3=-F/D; % from equation 3
T2=L/F - (T1+T3)/2; % from equation 4

if T1<0 || T2<0 || T3<0 % kinematic compatibility conditions
    disp('Error: acceleration, deceleration and travel length are not kinematically compatible.');
else
    tau1=0:Ts:T1; % create row vector for time, initial time : step size : final time
    tau2=0:Ts:T2;
    tau3=0:Ts:T3;

    % preallocate array for speed
    s1=zeros(1,length(tau1));    sd1=zeros(1,length(tau1));    sdd1=zeros(1,length(tau1));
    s2=zeros(1,length(tau2));    sd2=zeros(1,length(tau2));    sdd2=zeros(1,length(tau2));
    s3=zeros(1,length(tau3));    sd3=zeros(1,length(tau3));    sdd3=zeros(1,length(tau3));

   % from equation 1
    for index=1:length(tau1)
        s1(index)=F*tau1(index)*tau1(index)/2/T1;
    end
    for index=1:length(tau2)
        s2(index)=F*tau2(index) + F*T1/2;
    end
    for index=1:length(tau3)
        s3(index)=-F*tau3(index)*tau3(index)/2/T3 + F*tau3(index) + L - F*T3/2;
    end
end

t1=tau1'; % change tau1 from a row vector to a column vector tau1'
t2=tau2(2:end)' + T1; % shift bounds and drop first vector element
t3=tau3(2:end)' + T1 + T2;
t = [t1;t2;t3]; % concatenation of time vector

s1=s1';
s2=s2(2:end)';
s3=s3(2:end)';
s = [s1;s2;s3]; % concatenation of trajectory vector

s_new = [s; 50 * ones(300,1); flipud(s); zeros(299,1)];
t_new = [0:0.001:2]';
simin = [t_new s_new];

%
figure(1)
plot(t_new, s_new)

%
t=ScopeData.time;
x=ScopeData.signals.values;
u=ScopeData1.signals.values;
xr=ScopeData2.signals.values;
data=[t xr x u];
save lab2_q3.txt -ASCII -double data