clear
clc
close all

archivo = "adc_log_20260525_054227.txt";

Ke_adc = 3.3 / 4095;
Vref_pwm = 12;
PWM_mid = 512;
PWM_max = 1023;

ACS712_sens = 0.185;
ADC_mid_i1 = 512;
ADC_mid_i2 = 512;

T = readtable(archivo);

t = T.t_ms / 1000;

A137 = T.A137;
A138 = T.A138;
A139 = T.A139;
A140 = T.A140;
A141 = T.A141;
A142 = T.A142;
A143 = T.A143;
A144 = T.A144;

theta = T.theta;
theta_u = T.theta_u;
theta_vel = T.theta_vel;

pwm_a = T.pwm_a;
pwm_b = T.pwm_b;
pwm_c = T.pwm_c;

enc_a = A140;
enc_b = A143;
enc_c = A144;

i_a = ((A141 - ADC_mid_i1) * Ke_adc) / ACS712_sens;
i_b = ((A142 - ADC_mid_i2) * Ke_adc) / ACS712_sens;

v_a = ((pwm_a - PWM_mid) / PWM_mid) * Vref_pwm;
v_b = ((pwm_b - PWM_mid) / PWM_mid) * Vref_pwm;
v_c = ((pwm_c - PWM_mid) / PWM_mid) * Vref_pwm;

figure
plot(t, enc_a, "LineWidth", 1.4)
hold on
plot(t, enc_b, "LineWidth", 1.4)
plot(t, enc_c, "LineWidth", 1.4)
grid on
xlabel("Time [s]")
ylabel("ADC value")
title("Three-phase encoder raw signals")
legend("A140", "A143", "A144", "Location", "best")

figure
plot(t, theta, "LineWidth", 1.4)
hold on
plot(t, theta_u, "LineWidth", 1.4)
grid on
xlabel("Time [s]")
ylabel("Angle [rad]")
title("Rotor angle signals")
legend("\theta", "\theta_u", "Location", "best")

figure
plot(t, theta_vel, "LineWidth", 1.4)
grid on
xlabel("Time [s]")
ylabel("Angular velocity [rad/s]")
title("Rotor velocity")

figure
plot(t, pwm_a, "LineWidth", 1.4)
hold on
plot(t, pwm_b, "LineWidth", 1.4)
plot(t, pwm_c, "LineWidth", 1.4)
grid on
xlabel("Time [s]")
ylabel("PWM value")
title("PWM applied signals")
legend("PWM A", "PWM B", "PWM C", "Location", "best")

figure
plot(t, v_a, "LineWidth", 1.4)
hold on
plot(t, v_b, "LineWidth", 1.4)
plot(t, v_c, "LineWidth", 1.4)
grid on
xlabel("Time [s]")
ylabel("Voltage [V]")
title("Estimated applied voltages")
legend("v_a", "v_b", "v_c", "Location", "best")

figure
plot(t, i_a, "LineWidth", 1.4)
hold on
plot(t, i_b, "LineWidth", 1.4)
grid on
xlabel("Time [s]")
ylabel("Current [A]")
title("Measured current signals")
legend("i_a", "i_b", "Location", "best")

figure
subplot(3,1,1)
plot(t, enc_a, "LineWidth", 1.2)
hold on
plot(t, enc_b, "LineWidth", 1.2)
plot(t, enc_c, "LineWidth", 1.2)
grid on
ylabel("ADC")
title("Encoder")

subplot(3,1,2)
plot(t, i_a, "LineWidth", 1.2)
hold on
plot(t, i_b, "LineWidth", 1.2)
grid on
ylabel("Current [A]")
title("Currents")

subplot(3,1,3)
plot(t, v_a, "LineWidth", 1.2)
hold on
plot(t, v_b, "LineWidth", 1.2)
plot(t, v_c, "LineWidth", 1.2)
grid on
xlabel("Time [s]")
ylabel("Voltage [V]")
title("Applied voltages")
legend("v_a", "v_b", "v_c", "Location", "best")