% Different maneuvers can be simulated in the following examples.
% Uncomment one of the examples at a time and execute this script
% after executing SSMM_model, but before running the simulation in
% file SSMM_sim.slx.

% The following lines define the forces, acceleration, deceleration
% values and times instants for:

% Example 1: Straight motion without load
Instants = [0 0.5 0.7 5.1 5.2 6.5];
Values = [0 0 1 1 0 0];
Fext_straight = [625 625 625 625;0 0 0 0; 0 0 0 0];
Fext_turn = [0 0 0 0;0 0 0 0; 0 0 0 0];

% Example 2: Straight motion with load
% Instants = [0 0.5 0.7 5.5 5.6 6.5];
% Values = [0 0 1 1 0 0];
% Fext_straight = [625 625 625 625;0 0 0 0; 0 0 0 0];
% Fext_turn = [0 0 0 0;0 0 0 0; 0 0 0 0];

% Example 3: In-place turn motion without loade
% Instants = [0 0.5 0.9 10.8 11 11.5];
% Values = [0 0 1 1 0 0];
% Fext_straight = [0 0 0 0;0 0 0 0; 0 0 0 0];
% Fext_turn = [1625 1625 1625 1625;0 0 0 0; 0 0 0 0];


% Example 4: In-place turn motion with load
% Instants = [0 0.5 0.9 13.8 14 14.5];
% Values = [0 0 1 1 0 0];
% Fext_straight = [0 0 0 0;0 0 0 0; 0 0 0 0];
% Fext_turn = [2625 2625 2625 2625;0 0 0 0; 0 0 0 0];
