From b5b5d018f6033a6573526b8be7251b60df87a21b Mon Sep 17 00:00:00 2001
From: XI LUO <xluo45@ad.soe.ucsc.edu>
Date: Wed, 15 Mar 2023 17:08:15 -0700
Subject: [PATCH] remove asv

---
 Get_Dog_Postion.asv | 49 --------------------------------------
 Main.asv            | 58 ---------------------------------------------
 Robot_Dog.asv       | 11 ---------
 3 files changed, 118 deletions(-)
 delete mode 100644 Get_Dog_Postion.asv
 delete mode 100644 Main.asv
 delete mode 100644 Robot_Dog.asv

diff --git a/Get_Dog_Postion.asv b/Get_Dog_Postion.asv
deleted file mode 100644
index 996541f..0000000
--- a/Get_Dog_Postion.asv
+++ /dev/null
@@ -1,49 +0,0 @@
-function [result] = Get_Dog_Postion(client,id)
-
-frameData = client.GetLastFrameOfData();
-
-%Get the time stamp
-time_stamp = frameData.fTimestamp;
-
-%Get the marker data
-Dog_Pos = frameData.RigidBodies(id);
-%% Motive coordiate frame
-% wall wall wall wall wall
-%             0
-%             ^ z
-%             |
-%             |
-% pi/2 x <----O      -pi/2
-%
-%
-%             0
-% wall computer wall
-
-%%
-if ~isempty(Dog_Pos)
-    z=Dog_Pos.z;
-    x=Dog_Pos.x;
-    
-    q = [Dog_Pos.qx, Dog_Pos.qy, Dog_Pos.qz, Dog_Pos.qw];
-    Eul_ang = quat2eul(q);
-    if abs(Eul_ang(1)) < pi/2
-        if -Eul_ang(2) < 0
-            yaw = -Eul_ang(2)+2*pi;
-        else 
-            yaw = -Eul_ang(2);
-        end
-    else
-        if -Eul_ang(2) 
-        
-    end
-    yaw = -Eul_ang(2)*180/pi;
-
-    result = [time_stamp z x yaw];
-else
-    time_stamp=0;
-    z=0;
-    x=0;
-    yaw=0;
-    result = [time_stamp z x yaw];
-end
-
diff --git a/Main.asv b/Main.asv
deleted file mode 100644
index 569dd74..0000000
--- a/Main.asv
+++ /dev/null
@@ -1,58 +0,0 @@
-%% Clean
-clc; 
-close all;
-
-% this IP is the vm ip
-Robot_Dog_IP = '192.168.12.184';
-Robot_Dog_Port = 1145;
-
-Control_Command = zeros(1,11,'single');
-%% Motive coordiate frame
-% wall wall wall wall wall
-%        ^ z
-%        |
-%        |
-% x <----O y(pointing up)
-% wall computer wall
-
-%% Robot dog command
-%
-%     +(11) +(9)  -(11)
-%     +(10)  dog  -(10)
-%           -(9)
-%
-%% System Parameters
-
-K_v = 1; % Porportional constant on velocity action
-K_i = 1;  % Integral
-% constant on velocity action
-K_h = 1; % Proportional constant on angle action
-
-
-%% Instantiate client object to run Motive API commands
-% https://optitrack.com/software/natnet-sdk/
-
-% Create Motive client object
-dllPath = fullfile('d:','StDroneControl','NatNetSDK','lib','x64','NatNetML.dll');
-assemblyInfo = NET.addAssembly(dllPath); % Add API function calls
-theClient = NatNetML.NatNetClientML(0);
-
-% Create connection to localhost, data is now being streamed through client object
-HostIP = '127.0.0.1';
-theClient.Initialize(HostIP, HostIP); 
-
-Dog_ID = 1; % Rigid body ID of the drone from Motive
-
-fig = figure();
-ax = axes('Parent',fig);
-line_handle = plot(ax,Dog_Pos(2),Dog_Pos(3),'o');
-while true
-    [Dog_Pos] = Get_Dog_Postion(theClient, Dog_ID);
-    disp(Dog_Pos);
-    set(line_handle, 'z',Dog_Pos(2),'x',Dog_Pos(3))
-    drawnow;
-    pause(1);
-end
-
-
-
diff --git a/Robot_Dog.asv b/Robot_Dog.asv
deleted file mode 100644
index a632dcd..0000000
--- a/Robot_Dog.asv
+++ /dev/null
@@ -1,11 +0,0 @@
-function Robot_Dog(Robot_Dog_IP,Robot_Dog_Port,Control_Data)
-% Send command to robot dog
-
-% Create a UDP object
-Robot_Dog_UDP = udpport;
-% Transform single float to uint8
-Control_Data_Uint8 = typecast(Control_Data,'uint8');
-%
-write(Robot_Dog_UDP,Control_Data_Uint8,Robot_Dog_IP,Robot_Dog_Port);
-end
-