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EyeScript.m
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EyeScript.m
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clear all;
close all;
%% kutunun ilerleme hareketi, belli aralýklarla kutu ile gözün arasýndaki
% açý hesaplanýp göz döndürülecek.
fix_step_size=0.001;
t_finish_box = 10; % in secs
y_dist = 10; % box y vertical distance from eyes
box_time = linspace(0,t_finish_box,t_finish_box/fix_step_size+1);
box_time = transpose(box_time);
slow_time = 1;
box_start = +3;
box_end = -3;
box_x_data = linspace(box_start,box_end,t_finish_box/fix_step_size+1);
box_x_data = transpose(box_x_data);
box_x_movement = timeseries(box_x_data,box_time);
box_y = timeseries(y_dist*ones(length(box_time),1),box_time);
fps = 200;
%insan gözünün saniyede 200 kare gördüðünü varsayarak ilerlicem.
%yani 1 saniyelik görüntüyü 200kareye bölerek aradaki açý farkýnýna denk
%düþen þiddeti uygulucam.
%kutu ile göz arasýnda y_dist,10, metre oldugunu varsayýyorum.
%gözün baþlangýç konumundaki açýlarý.
leftEyeStartDegree = atand((-0.1-box_start)/y_dist);
rightEyeStartDegree = atand((+0.1-box_start)/y_dist);
%% initialization for eye paremeters
%initial values for both left and right eyes, unit : [g * tension / degree]
Kse = 1.8;
K = 0.86;
B = 0.018;
J = 4.3 * 10e-5;
zero = 5e-3; %simulation delay,
theta_size = t_finish_box * fps; %hareket boyunca kaç kere theta deðiþtiðini tutuyor
%theta_size = (length(box_time)-1)/1;
%% left eye initialization
%baþlangýç durumundaki x1,x2,x3,v1 durumlarý.
LeftTheta1_init = leftEyeStartDegree;
LeftTheta1dot_init = 0 ;
LeftTheta2_init = 0 ;
LeftTheta3_init = 0 ;
LeftAgStepLog = zeros(1,theta_size);
LeftAgStepLog(1) = 16+0.8*leftEyeStartDegree; %should be different, think about it
LeftAntStepLog = zeros(1,theta_size);
LeftAntStepLog(1) = 16 - 0.06*leftEyeStartDegree; %%should be different, think about it
LeftAgInit = LeftAgStepLog(1); % kaslardaki baþlangýc gerilimi 16N
LeftAntInit = LeftAntStepLog(1);
LeftDthetaValues=zeros(1,theta_size);
%left_dtheta_sum holds the all left_theta values over time
left_dtheta_sum=zeros(0);
%% right eye initialization
RightTheta1_init = rightEyeStartDegree;
RightTheta1dot_init = 0;
RightTheta2_init = 0;
RightTheta3_init = 0;
RightAgStepLog = zeros(1,theta_size);
RightAgStepLog(1) = 16 + 0.8*rightEyeStartDegree; %should be different, think about it
RightAntStepLog = zeros(1,theta_size);
RightAntStepLog(1) = 16 - 0.06*rightEyeStartDegree; %%should be different, think about it
RightAgInit = RightAgStepLog(1); % kaslardaki baþlangýc gerilimi 16N
RightAntInit = RightAntStepLog(1);
RightDthetaValues=zeros(1,theta_size);
%right_dtheta_sum holds the all left_theta values over time
right_dtheta_sum=zeros(0);
%% ############################ simulation ############################
for m =1:theta_size
%AG ve ANT kaslarýnýn denge(0derecedeki) durumundaki gerilimleri.
%theta deðiþimini tutan vektor ve zaman vektoru, simulasyon sonrasýnda, bunu göze
%uyguluyoruz.
box_len = length(box_x_data);
% KONTROL ET
if m>2 && m ~= theta_size+1
LeftDthetaValues(m) = atand((-0.1-box_x_data(m*round(box_len/theta_size)+1))/y_dist)-model.LeftTheta1.data(end);
RightDthetaValues(m) = atand((+0.1-box_x_data(m*round(box_len/theta_size)+1))/y_dist)-model.RightTheta1.data(end);
elseif m==theta_size+1
LeftDthetaValues(m) = atand((-0.1-box_x_data(end)/y_dist))-model.LeftTheta1.data(end);
RightDthetaValues(m) = atand((+0.1-box_x_data(end)/y_dist))-model.RightTheta1.data(end);
else
LeftDthetaValues(m) = atand((-0.1-box_x_data(m*round(box_len/theta_size)+1))/y_dist)-leftEyeStartDegree;
RightDthetaValues(m) = atand((+0.1-box_x_data(m*round(box_len/theta_size)+1))/y_dist)-rightEyeStartDegree;
end
%feedError = 45; %feedback constant for error
%dTheta = dTheta - theta_error /feedError;
%% ############################ left eye simulation update ############################
OldLeftTheta(m) = LeftDthetaValues(m);
LeftDthetaValues(m) = theta_rounder(LeftDthetaValues(m)); %rounds the dthetaValues(m) value
switch LeftDthetaValues(m)
case 0, LeftPh=0; LeftPW=1e-5;
case 1e-1, LeftPh=17.6; LeftPW=10e-3;
case 5e-1, LeftPh=20; LeftPW=10e-3;
case 1, LeftPh=22; LeftPW=11e-3;
case 5, LeftPh=53; LeftPW=15e-3;
case 10, LeftPh=87; LeftPW=20e-3;
case 20, LeftPh=124; LeftPW=31e-3;
case 30, LeftPh=155; LeftPW=40e-3;
end
% should add N_AG_Step_prev and N_ANT_Step_prev
%AG
LeftAgStepPrev = LeftAgStepLog(m);
LeftAgPulse = LeftPh;
LeftAgStep = LeftAgStepPrev+0.8*LeftDthetaValues(m);
LeftAgStepLog(m+1) = LeftAgStep;
LeftAgPW = LeftPW;
%ANT
LeftAntStepPrev = LeftAntStepLog(m);
LeftAntPulse = 0.5 + LeftAntStepPrev*exp(-LeftDthetaValues(m)/2.5);
LeftAntStep = LeftAntStepPrev - 0.06*LeftDthetaValues(m);
LeftAntStepLog(m+1) = LeftAntStep;
LeftAntPW = LeftAgPW; + 6e-3; %Antagonist PW circumscribes Agonist PW by 3 ms on each side
LeftTauAg_AC = (13 - 0.1*LeftDthetaValues(m))*1e-3;
%% ############################ right eye simulation update ############################
OldRightTheta(m) = RightDthetaValues(m);
RightDthetaValues(m) = theta_rounder(RightDthetaValues(m)); %rounds the dthetaValues(m) value
switch RightDthetaValues(m)
case 0, RightPh=0; RightPW=1e-5;
case 1e-1, RightPh=17.6; RightPW=10e-3;
case 5e-1, RightPh=20; RightPW=10e-3;
case 1, RightPh=22; RightPW=11e-3;
case 5, RightPh=53; RightPW=15e-3;
case 10, RightPh=87; RightPW=20e-3;
case 20, RightPh=124; RightPW=31e-3;
case 30, RightPh=155; RightPW=40e-3;
end
% should add N_AG_Step_prev and N_ANT_Step_prev
%AG
RightAgStepPrev = RightAgStepLog(m);
RightAgPulse = RightPh;
RightAgStep = RightAgStepPrev+0.8*RightDthetaValues(m);
RightAgStepLog(m+1) = RightAgStep;
RightAgPW = RightPW;
%ANT
RightAntStepPrev = RightAntStepLog(m);
RightAntPulse = 0.5 + RightAntStepPrev*exp(-RightDthetaValues(m)/2.5);
RightAntStep = RightAntStepPrev - 0.06*RightDthetaValues(m);
RightAntStepLog(m+1) = RightAntStep;
RightAntPW = RightAgPW + 6e-3; %Antagonist PW circumscribes Agonist PW by 3 ms on each side
RightTauAg_AC = (13 - 0.1*RightDthetaValues(m))*1e-3;
%
%% ############################ simulation for both left and right eyes ############################
%eye_model start and finish time
% t_start = (m-1)*t_finish_box/theta_size; %sim time for eye_moodel
% if m == theta_size + 1
% %kutu durduktan sonra son steady state gelmesi için 20ms ekledim.
% t_finish = (m+2)*t_finish_box/theta_size;
% else
% t_finish = m*t_finish_box/theta_size; %sim time for eye_model
% end
t_start = (m-1)*t_finish_box/theta_size;
t_finish = m*t_finish_box/theta_size;
model = sim('eye_model');
%% ############################ Left Eye Parameter Update ############################
% In this section, I update the parameters for next simulation's initialization
left_dtheta_sum = vertcat(left_dtheta_sum,model.dThetaLeft);
LeftTheta1 = model.LeftTheta1.data;
LeftTheta1_init = LeftTheta1(end);
% LeftEyeThetaRotate(m) = model.LeftTheta1;
LeftTheta2 = model.LeftTheta2.data;
LeftTheta2_init = LeftTheta2(end);
LeftTheta3 = model.LeftTheta3.data;
LeftTheta3_init = LeftTheta3(end);
LeftTheta1dot = model.LeftTheta1dot.data;
LeftTheta1dot_init = LeftTheta1dot(end);
LeftAgInit = LeftAgStepPrev;
LeftAntInit = LeftAntStepPrev;
%% ############################ Right Eye Parameter Update ############################
% In this section, I update the parameters for next simulation's initialization
%dtheta_sum = vertcat(dtheta_sum,model.dtheta);
right_dtheta_sum = vertcat(right_dtheta_sum,model.dThetaRight);
%error at each eye movement
RightTheta1 = model.RightTheta1.data;
RightTheta1_init = RightTheta1(end);
% RightEyeThetaRotate(m) = model.LeftTheta1;
RightTheta2 = model.RightTheta2.data;
RightTheta2_init = RightTheta2(end);
RightTheta3 = model.RightTheta3.data;
RightTheta3_init = RightTheta3(end);
RightTheta1dot = model.RightTheta1dot.data;
RightTheta1dot_init = RightTheta1dot(end);
RightAgInit = RightAgStepPrev;
RightAntInit = RightAntStepPrev;
end
%% ############################## Simulation Results #########################
last_error_left = left_dtheta_sum(end) - atand((-0.1-box_x_data(end))/y_dist) %%shows last error of the system
last_error_right = right_dtheta_sum(end) - atand((+0.1-box_x_data(end))/y_dist) %%shows last error of the system
%simulasyon boyunca geçen süre t:
t = linspace(0,t_finish,length(left_dtheta_sum));
% figure(1)
% subplot(2,1,1);
% box_left = atand((-0.1-box_x_data)/y_dist);
% plot(t,left_dtheta_sum);
% hold on;
% plot(box_time,box_left);
% subplot(2,1,2);
% box_right = atand((+0.1-box_x_data)/y_dist);
% hold on;
% plot(t,right_dtheta_sum);
% plot(box_right);
% figure(2);
% subplot(2,1,1);
% plot(t,last_error_left);
% subplot(2,1,2);
% plot(t,last_error_right);
%% ############################ 3D ANIMATION ############################
LeftVrTheta = timeseries(left_dtheta_sum,t);
RightVrTheta = timeseries(right_dtheta_sum,t);
box_x_new_data = linspace(box_end,box_end,(t_finish-t_finish_box)/fix_step_size);
box_x_new_data = transpose(box_x_new_data);
box_x_data = vertcat(box_x_data,box_x_new_data);
box_time = linspace(0,t_finish,t_finish/fix_step_size+1);
box_time = transpose(box_time);
box_time = box_time(1:length(box_x_data));
box_x_movement = timeseries(box_x_data,box_time);
t = linspace(0,t_finish,length(left_dtheta_sum));
figure(1)
subplot(2,1,1);
box_left = atand((-0.1-box_x_data)/y_dist);
plot(t,left_dtheta_sum);
hold on;
plot(box_time,box_left);
legend('left_dtheta','box_left');
subplot(2,1,2);
box_right = atand((+0.1-box_x_data)/y_dist);
plot(t,right_dtheta_sum);
hold on;
plot(box_time,box_right);
legend('right_dtheta','box_right');
sim('eye_animation');