local files

Arduino/arduino_braccio/arduino_braccio.ino

+/*
+ * Antenna measurement system. Arduino controller for Braccio robotic arm.
+ * 19th April 2021
+ * Thomas Moody
+ */
+#include <Braccio.h>
+#include <Servo.h>
+
+Servo base;
+Servo shoulder;
+Servo elbow;
+Servo wrist_rot;
+Servo wrist_ver;
+Servo gripper;
+
+const int buffer_size = 6;
+byte input_buffer[buffer_size];
+
+void setup() {
+  Serial.begin(9600);
+  Braccio.begin();
+}
+
+void loop() {
+  /*
+   Step Delay: a milliseconds delay between the movement of each servo.  Allowed values from 10 to 30 msec.
+   M1=base degrees. Allowed values from 0 to 180 degrees
+   M2=shoulder degrees. Allowed values from 15 to 165 degrees
+   M3=elbow degrees. Allowed values from 0 to 180 degrees
+   M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
+   M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
+   M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
+   
+   Shoulder (base azimuth);
+   (step delay, M1, M2, M3, M4, M5, M6);
+  */
+
+  if(Serial.available()) {
+    Serial.readBytes(input_buffer, buffer_size);
+    Braccio.ServoMovement(10, input_buffer[0], input_buffer[1], input_buffer[2], input_buffer[3], input_buffer[4], input_buffer[5]);
+    Serial.write(input_buffer, buffer_size);
+  }
+  
+}

Arduino/src/Braccio.cpp

+/*
+ Braccio.cpp - board library Version 2.0
+ Written by Andrea Martino and Angelo Ferrante
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "Braccio.h"
+
+extern Servo base;
+extern Servo shoulder;
+extern Servo elbow;
+extern Servo wrist_rot;
+extern Servo wrist_ver;
+extern Servo gripper;
+
+extern int step_base = 0;
+extern int step_shoulder = 45;
+extern int step_elbow = 180;
+extern int step_wrist_rot = 180;
+extern int step_wrist_ver = 90;
+extern int step_gripper = 10;
+ 
+
+_Braccio Braccio;
+
+//Initialize Braccio object
+_Braccio::_Braccio() {
+}
+
+/**
+ * Braccio initialization and set intial position
+ * Modifing this function you can set up the initial position of all the
+ * servo motors of Braccio
+ * @param soft_start_level: default value is 0 (SOFT_START_DEFAULT)
+ * You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
+ * SOFT_START_DISABLED disable the Braccio movements
+ */
+unsigned int _Braccio::begin(int soft_start_level) {
+	//Calling Braccio.begin(SOFT_START_DISABLED) the Softstart is disabled and you can use the pin 12
+	if(soft_start_level!=SOFT_START_DISABLED){
+		pinMode(SOFT_START_CONTROL_PIN,OUTPUT);
+		digitalWrite(SOFT_START_CONTROL_PIN,LOW);
+	}
+
+	// initialization pin Servo motors
+	base.attach(11);
+	shoulder.attach(10);
+	elbow.attach(9);
+	wrist_rot.attach(6);
+	wrist_ver.attach(5);
+	gripper.attach(3);
+        
+	//For each step motor this set up the initial degree
+	base.write(0);
+	shoulder.write(40);
+	elbow.write(180);
+	wrist_ver.write(170);
+	wrist_rot.write(0);
+	gripper.write(73);
+	//Previous step motor position
+	step_base = 0;
+	step_shoulder = 40;
+	step_elbow = 180;
+	step_wrist_ver = 170;
+	step_wrist_rot = 0;
+	step_gripper = 73;
+
+	if(soft_start_level!=SOFT_START_DISABLED)
+    		_softStart(soft_start_level);
+	return 1;
+}
+
+/*
+Software implementation of the PWM for the SOFT_START_CONTROL_PIN,HIGH
+@param high_time: the time in the logic level high
+@param low_time: the time in the logic level low
+*/
+void _Braccio::_softwarePWM(int high_time, int low_time){
+	digitalWrite(SOFT_START_CONTROL_PIN,HIGH);
+	delayMicroseconds(high_time);
+	digitalWrite(SOFT_START_CONTROL_PIN,LOW);
+	delayMicroseconds(low_time); 
+}
+
+/*
+* This function, used only with the Braccio Shield V4 and greater,
+* turn ON the Braccio softly and save it from brokes.
+* The SOFT_START_CONTROL_PIN is used as a software PWM
+* @param soft_start_level: the minimum value is -70, default value is 0 (SOFT_START_DEFAULT)
+*/
+void _Braccio::_softStart(int soft_start_level){      
+	long int tmp=millis();
+	while(millis()-tmp < LOW_LIMIT_TIMEOUT)
+		_softwarePWM(80+soft_start_level, 450 - soft_start_level);   //the sum should be 530usec	
+
+	while(millis()-tmp < HIGH_LIMIT_TIMEOUT)
+		_softwarePWM(75 + soft_start_level, 430 - soft_start_level); //the sum should be 505usec
+
+	digitalWrite(SOFT_START_CONTROL_PIN,HIGH);
+}
+
+/**
+ * This functions allow you to control all the servo motors
+ * 
+ * @param stepDelay The delay between each servo movement
+ * @param vBase next base servo motor degree
+ * @param vShoulder next shoulder servo motor degree
+ * @param vElbow next elbow servo motor degree
+ * @param vWrist_ver next wrist rotation servo motor degree
+ * @param vWrist_rot next wrist vertical servo motor degree
+ * @param vgripper next gripper servo motor degree
+ */
+int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,int vWrist_ver, int vWrist_rot, int vgripper) {
+
+	// Check values, to avoid dangerous positions for the Braccio
+    	if (stepDelay > 30) stepDelay = 30;
+	if (stepDelay < 10) stepDelay = 10;
+	if (vBase < 0) vBase=0;
+	if (vBase > 180) vBase=180;
+	if (vShoulder < 15) vShoulder=15;
+	if (vShoulder > 165) vShoulder=165;
+	if (vElbow < 0) vElbow=0;
+	if (vElbow > 180) vElbow=180;
+	if (vWrist_ver < 0) vWrist_ver=0;
+	if (vWrist_ver > 180) vWrist_ver=180;
+	if (vWrist_rot > 180) vWrist_rot=180;
+	if (vWrist_rot < 0) vWrist_rot=0;
+    	if (vgripper < 10) vgripper = 10;
+	if (vgripper > 73) vgripper = 73;
+
+	int exit = 1;
+
+	//Until the all motors are in the desired position
+	while (exit) 
+	{			
+		//For each servo motor if next degree is not the same of the previuos than do the movement		
+		if (vBase != step_base) 
+		{			
+			base.write(step_base);
+			//One step ahead
+			if (vBase > step_base) {
+				step_base++;
+			}
+			//One step beyond
+			if (vBase < step_base) {
+				step_base--;
+			}
+		}
+
+		if (vShoulder != step_shoulder)  
+		{
+			shoulder.write(step_shoulder);
+			//One step ahead
+			if (vShoulder > step_shoulder) {
+				step_shoulder++;
+			}
+			//One step beyond
+			if (vShoulder < step_shoulder) {
+				step_shoulder--;
+			}
+
+		}
+
+		if (vElbow != step_elbow)  
+		{
+			elbow.write(step_elbow);
+			//One step ahead
+			if (vElbow > step_elbow) {
+				step_elbow++;
+			}
+			//One step beyond
+			if (vElbow < step_elbow) {
+				step_elbow--;
+			}
+
+		}
+
+		if (vWrist_ver != step_wrist_rot) 
+		{
+			wrist_rot.write(step_wrist_rot);
+			//One step ahead
+			if (vWrist_ver > step_wrist_rot) {
+				step_wrist_rot++;				
+			}
+			//One step beyond
+			if (vWrist_ver < step_wrist_rot) {
+				step_wrist_rot--;
+			}
+
+		}
+
+		if (vWrist_rot != step_wrist_ver)
+		{
+			wrist_ver.write(step_wrist_ver);
+			//One step ahead
+			if (vWrist_rot > step_wrist_ver) {
+				step_wrist_ver++;
+			}
+			//One step beyond
+			if (vWrist_rot < step_wrist_ver) {
+				step_wrist_ver--;
+			}
+		}
+
+		if (vgripper != step_gripper)
+		{
+			gripper.write(step_gripper);
+			if (vgripper > step_gripper) {
+				step_gripper++;
+			}
+			//One step beyond
+			if (vgripper < step_gripper) {
+				step_gripper--;
+			}
+		}
+		
+		//delay between each movement
+		delay(stepDelay);
+		
+		//It checks if all the servo motors are in the desired position 
+		if ((vBase == step_base) && (vShoulder == step_shoulder)
+				&& (vElbow == step_elbow) && (vWrist_ver == step_wrist_rot)
+				&& (vWrist_rot == step_wrist_ver) && (vgripper == step_gripper)) {
+			step_base = vBase;
+			step_shoulder = vShoulder;
+			step_elbow = vElbow;
+			step_wrist_rot = vWrist_ver;
+			step_wrist_ver = vWrist_rot;
+			step_gripper = vgripper;
+			exit = 0;
+		} else {
+			exit = 1;
+		}
+	}
+}

Arduino/src/Braccio.h

+/*
+  Braccio.h - board library Version 2.0
+  Written by Andrea Martino and Angelo Ferrante
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef BRACCIO_H_
+#define BRACCIO_H_
+
+#include <Arduino.h>
+#include <Servo.h>
+
+// You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
+#define SOFT_START_DISABLED		-999
+
+//The default value for the soft start
+#define SOFT_START_DEFAULT		0
+
+//The software PWM is connected to PIN 12. You cannot use the pin 12 if you are using
+//a Braccio shield V4 or newer
+#define SOFT_START_CONTROL_PIN	12
+
+//Low and High Limit Timeout for the Software PWM
+#define LOW_LIMIT_TIMEOUT 2000
+#define HIGH_LIMIT_TIMEOUT 6000
+
+class _Braccio {
+
+public:
+  _Braccio();
+  	
+  /**
+  * Braccio initializations and set intial position
+  * Modifing this function you can set up the initial position of all the
+  * servo motors of Braccio 
+  *@param soft_start_level: the minimum value is -70, default value is 0 (SOFT_START_DEFAULT)
+  * You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
+  */
+  unsigned int begin(int soft_start_level=SOFT_START_DEFAULT); 
+
+  /**
+   * This function allow the user to control all the servo motors in the Braccio
+   */
+  int ServoMovement(int delay, int Vbase,int Vshoulder, int Velbow, int Vwrist_ver, int Vwrist_rot, int Vgripper); 
+	
+
+private:
+  /*
+  * This function, used only with the Braccio Shield V4 and greater,
+  * turn ON the Braccio softly and save Braccio from brokes.
+  * The SOFT_START_CONTROL_PIN is used as a software PWM
+  * @param soft_start_level: the minimum value is -70, , default value is 0 (SOFT_START_DEFAULT)
+  */
+  void _softStart(int soft_start_level);
+	
+  /*
+  * Software implementation of the PWM for the SOFT_START_CONTROL_PIN,HIGH
+  * @param high_time: the time in the logic level high
+  * @param low_time: the time in the logic level low
+  */
+  void _softwarePWM(int high_time, int low_time);
+
+
+};
+
+extern _Braccio Braccio;
+
+#endif // BRACCIO_H_

MATLAB/AntennaMeasure.m

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Setup:  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Precondition: Installed R&S VISA 5.11.0 or later with R&S VISA.NET
+clear;
+close all;
+clc;
+try 
+    assemblyCheck = NET.addAssembly('Ivi.Visa');
+catch
+    error('Error loading .NET assembly Ivi.Visa');
+end
+resourceString1 = 'TCPIP::192.168.2.2::INSTR';  % Standard LAN connection (also called VXI-11)
+scope = Ivi.Visa.GlobalResourceManager.Open(resourceString1);   % Opening VISA session to the instrument
+scope.Clear()
+scope.RawIO.Write(['*IDN?' newline]);   % LineFeed character at the end (newline character)
+idnResponse = char(scope.RawIO.ReadString());   % Store *IDN? query response from VNA
+s = serial('COM4','BaudRate',9600);     % Serial settings - change COM port as required
+fopen(s);       % Open the serial session
+pause(10);      % Waiting for Braccio.begin() on Arduino to complete
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+deltaTheta = 5;
+deltaPhi = 5;
+deltaFreq = 100e6;
+
+Theta = 0:deltaTheta:180;
+Phi = (-90:deltaPhi:90)';
+
+%
+%%%%%%% Set your frequency range %%%%%%%%%%
+%
+Freq = 2.0e9:deltaFreq:4.0e9;
+
+
+%Braccio Hemisphere 1 Co-Polarization
+radData1_CoPol = zeros(length(Phi),length(Theta),length(Freq));
+
+%Braccio Hemisphere 2 Co-Polarization
+radData2_CoPol = zeros(length(Phi),length(Theta),length(Freq));
+
+%Braccio Hemisphere 1 Cross Polarization
+radData1_XPol = zeros(length(Phi),length(Theta),length(Freq));
+
+%Braccio Hemisphere 2 Cross Polarization
+radData2_XPol = zeros(length(Phi),length(Theta),length(Freq));
+
+
+setup(scope,Freq);   % Setup the VNA
+pause(2);
+
+%ensure Braccio is at starting point
+move(s,1,1);
+
+pause(2);
+
+%Measure hemisphere 1
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        move(s, Phi(i), Theta(j));
+        radData1_CoPol(i,j,:) = measure(scope,10,length(Freq));
+    end
+end
+
+%reset theta and phi positions
+i=1;
+j=1;
+
+
+%wait for user to flip the Braccio; 
+%%%% execute dbcont to move forward
+%
+keyboard
+
+%ensure Braccio is at starting point 
+move(s,Phi(1),Theta(1));
+
+
+%Measure hemisphere 2
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        move(s, Phi(i), Theta(j));
+        radData2_CoPol(i,j,:) = measure(scope,10,length(Freq));
+    end
+end
+
+%Save the first co-pol hemisphere
+freq_observe = 3.0e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3000MHz_1metre',freq_observe);
+
+freq_observe = 3.2e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3200MHz_1metre',freq_observe);
+
+freq_observe = 3.4e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3400MHz_1metre',freq_observe);
+
+freq_observe = 3.6e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3600MHz_1metre',freq_observe);
+
+
+%Save the second c-pol hemisphere
+freq_observe = 3.0e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3000MHz_1metre',freq_observe);
+
+freq_observe = 3.2e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3200MHz_1metre',freq_observe);
+
+freq_observe = 3.4e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3400MHz_1metre',freq_observe);
+
+freq_observe = 3.6e9;   % Set the frequency set you'd like to save to CSV
+saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3600MHz_1metre',freq_observe);
+
+%combine both at a single frequency
+radData_full=cat(2,radData1_CoPol(:,:,17),radData2_CoPol(:,:,13));
+
+%WIP
+Phi2 = (-180:deltaPhi:180)';
+Theta2 = 0:deltaTheta:365;
+
+%plot hemisphere 1
+figure(1); clf;
+patternCustom(radData1_CoPol(:,:,13),Theta,Phi,'CoordinateSystem','rectangular','Slice','phi','SliceValue',0);
+figure(2); clf;
+patternCustom(radData1_CoPol(:,:,13),Theta,Phi);
+figure(3); clf;
+patternCustom(radData2_CoPol(:,:,13),Theta,Phi);
+figure(4); clf;
+patternCustom(radData_full(:,:74),Theta2,Phi)
+
+
+
+%Directivity calculation for single frequency
+radData_mag = 10.^(radData_full(:,:)/10);
+total_RP = sum(radData_mag);
+average_RP = mean(radData_mag);
+Peak_RP = max(radData_mag);
+Directivity_linear = Peak_RP/average_RP;
+Directivity_dB = 10*log(Peak_RP/average_RP)
+
+%%%%%%%%%%%%%%%%% End %%%%%%%%%%%%%%%%%%%
+move(s,0,90);
+fclose(s);
+delete(s);

MATLAB/AntennaMeasure_Polarized.m

+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Setup:  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Precondition: Installed R&S VISA 5.11.0 or later with R&S VISA.NET
+clear;
+close all;
+clc;
+try 
+    assemblyCheck = NET.addAssembly('Ivi.Visa');
+catch
+    error('Error loading .NET assembly Ivi.Visa');
+end
+resourceString1 = 'TCPIP::192.168.2.2::INSTR';  % Standard LAN connection (also called VXI-11)
+scope = Ivi.Visa.GlobalResourceManager.Open(resourceString1);   % Opening VISA session to the instrument
+scope.Clear()
+scope.RawIO.Write(['*IDN?' newline]);   % LineFeed character at the end (newline character)
+idnResponse = char(scope.RawIO.ReadString());   % Store *IDN? query response from VNA
+s = serial('COM4','BaudRate',9600);     % Serial settings - change COM port as required
+fopen(s);       % Open the serial session
+pause(10);      % Waiting for Braccio.begin() on Arduino to complete
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+deltaTheta = 5;
+deltaPhi = 5;
+deltaFreq = 100e6;
+
+Theta = 0:deltaTheta:180;
+Phi = (-90:deltaPhi:90)';
+
+%
+%%%%%%% Set your frequency range %%%%%%%%%%
+%
+Freq = 2.0e9:deltaFreq:4.0e9;
+%
+%%%%%% Set your frequency point of interest
+%
+freq_plot=4;
+
+%Braccio Hemisphere 1 Co-Polarization
+radData1_CoPol = zeros(length(Phi),length(Theta),length(Freq));
+
+%Braccio Hemisphere 2 Co-Polarization
+radData2_CoPol = zeros(length(Phi),length(Theta),length(Freq));
+
+%Braccio Hemisphere 1 Cross Polarization
+radData1_XPol = zeros(length(Phi),length(Theta),length(Freq));
+
+%Braccio Hemisphere 2 Cross Polarization
+radData2_XPol = zeros(length(Phi),length(Theta),length(Freq));
+
+
+setup(scope,Freq);   % Setup the VNA
+pause(1);
+
+%ensure Braccio is at starting point
+move(s,-90,0);
+pause(1);
+
+
+
+
+%Measure hemisphere 1
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        move(s, Phi(i), Theta(j));
+        radData1_CoPol(i,j,:) = measure(scope,10,length(Freq));
+    end
+end
+
+%reset theta and phi positions
+i=1;
+j=1;
+
+
+%wait for user to flip the Braccio; 
+%%%% execute dbcont to move forward
+%
+fprintf("######\n########\n Flip the Braccio To hemisphere 2\n########\n")
+keyboard
+pause(2);
+
+%ensure Braccio is at starting point 
+move(s,Phi(1),Theta(1));
+
+
+%Measure hemisphere 2
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        move(s, Phi(i), Theta(j));
+        radData2_CoPol(i,j,:) = measure(scope,10,length(Freq));
+    end
+end
+
+
+
+
+%
+%%%% execute dbcont to move forward
+%
+fprintf("######\n########\nChange polarization of the source \n######\n########\n Flip the Braccio To hemisphere 1\n")
+keyboard
+pause(2);
+
+
+%ensure Braccio is at starting point 
+move(s,Phi(1),Theta(1));
+%reset theta and phi positions
+i=1;
+j=1;
+
+%Measure hemisphere 1 X-Polarized
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        move(s, Phi(i), Theta(j));
+        radData1_XPol(i,j,:) = measure(scope,10,length(Freq));
+    end
+end
+
+
+%
+%%%% execute dbcont to move forward
+%
+fprintf("\n######\n########\n Flip the Braccio To hemisphere 2\n########\n")
+keyboard
+pause(2);
+
+
+%ensure Braccio is at starting point 
+move(s,Phi(1),Theta(1));
+%reset theta and phi positions
+i=1;
+j=1;
+
+%Measure hemisphere 2 X-Polarized
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        move(s, Phi(i), Theta(j));
+        radData2_XPol(i,j,:) = measure(scope,10,length(Freq));
+    end
+end
+
+
+%
+%Save the data (frequency sweep for each hemisphere and polarization) in a .Dat file
+%
+save AgPU10000cyclesPatch_take2_2400MHz_Hem1_CoPol.dat radData1_CoPol
+save AgPU10000cyclesPatch_take2_2400MHz_Hem2_CoPol.dat radData2_CoPol 
+
+save AgPU10000cyclesPatch_take2_2400MHz_Hem1_XPol.dat radData1_XPol 
+save AgPU10000cyclesPatch_take2_2400MHz_Hem2_XPol.dat radData2_XPol 
+
+
+
+%
+%%%%% New angular ranges for 3D plots
+%
+Phi2 = (-180:deltaPhi:180)';
+Theta2 = 0:deltaTheta:365;
+
+%
+%%%%%
+%
+%combine both hemispheres at a single frequency for each polarization
+% in radDataN_CoPol(:,:,x) -> X denotes teh frequency point of interest
+%
+radData_full_CoPol=cat(2,radData1_CoPol(:,:,4),radData2_CoPol(:,:,4));
+radData_full_XPol=cat(2,radData1_XPol(:,:,4),radData2_XPol(:,:,4));
+
+
+%
+%%%%%%
+%
+radData_full_CoPol_mag=10.^(radData_full_CoPol(:,:)./10);
+radData_full_XPol_mag=10.^(radData_full_XPol(:,:)./10);
+total_RP = sum(sum(radData_full_CoPol_mag)) + sum(sum(radData_full_CoPol_mag));
+average_RP_CoPol = mean(mean(radData_full_CoPol_mag));
+average_RP_XPol = mean(mean(radData_full_CoPol_mag));
+Peak_RP_CoPol = max(max(radData_full_CoPol_mag));
+Directivity_CoPol = Peak_RP_CoPol/average_RP_CoPol;
+
+Directivity_CoPol_dB = 10*log(Directivity_CoPol/10)
+
+
+%
+%Normalize the patterns
+%
+max_value=max(max(radData_full_CoPol(:,:)));
+Norm_radData_full_CoPol(:,:)=radData_full_CoPol(:,:)-max_value;
+Norm_radData_full_XPol(:,:)=radData_full_XPol(:,:)-max_value;
+
+%
+%plot hemisphere 1
+%
+figure(1); clf;
+patternCustom(radData1_CoPol(:,:,freq_plot),Theta,Phi,'CoordinateSystem','rectangular','Slice','phi','SliceValue',0);
+figure(2); clf;
+patternCustom(radData1_CoPol(:,:,freq_plot),Theta,Phi);
+figure(3); clf;
+patternCustom(radData2_CoPol(:,:,freq_plot),Theta,Phi);
+figure(4); clf;
+patternCustom(Norm_radData_full_CoPol(:,:),Theta2,Phi);
+figure(5); clf;
+patternCustom(Norm_radData_full_XPol(:,:),Theta2,Phi);
+
+
+
+%Directivity calculation for single frequency
+radData_mag = 10.^(radData_full_CoPol(:,:)/10);
+total_RP = sum(radData_mag);
+average_RP = mean(radData_mag);
+Peak_RP = max(radData_mag);
+Directivity_linear = Peak_RP/average_RP;
+Directivity_dBi = 10*log(Peak_RP/average_RP)
+
+%%%%%%%%%%%%%%%%% End %%%%%%%%%%%%%%%%%%%
+move(s,0,90);
+fclose(s);
+delete(s);
+
+
+% %Save the first co-pol hemisphere
+% freq_observe = 3.0e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3000MHz_1metre',freq_observe);
+% 
+% freq_observe = 3.2e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3200MHz_1metre',freq_observe);
+% 
+% freq_observe = 3.4e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3400MHz_1metre',freq_observe);
+% 
+% freq_observe = 3.6e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData1_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem1CoPol_3600MHz_1metre',freq_observe);
+% 
+% 
+% %Save the second c-pol hemisphere
+% freq_observe = 3.0e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3000MHz_1metre',freq_observe);
+% 
+% freq_observe = 3.2e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3200MHz_1metre',freq_observe);
+% 
+% freq_observe = 3.4e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3400MHz_1metre',freq_observe);
+% 
+% freq_observe = 3.6e9;   % Set the frequency set you'd like to save to CSV
+% saveCSV(radData2_CoPol,Theta,Phi,Freq,'CarbonPatch1_Hem2CoPol_3600MHz_1metre',freq_observe);

MATLAB/measure.m

+function [read] = measure(scope,n_samples,size)
+%MEASURE Request measurement sweep from VNA
+
+    commands = [
+        "INIT1:IMM"
+        "*WAI"
+        "CALC1:DATA? FDAT"
+    ];
+
+    samples = zeros(n_samples,size);    % Array for holding multiple identical sweeps for averaging
+    
+    for x = 1:n_samples
+        for i = 1:length(commands)
+            scope.RawIO.Write([char(commands(i)) newline]);
+        end
+        a = char(scope.RawIO.ReadString());
+        samples(x,:) = sscanf(a, '%g,', [1, inf]).';
+        pause(0.01);    % Delay between sweeps
+    end
+    read = mean(samples);   % Mean of rows of 'samples' - leaves one row
+end
+

MATLAB/move.m

+function move(s, Phi, Theta)
+%MOVE Sends command to move the Braccio arm to the requested position
+
+    %	M1      M2      M3      M4      M5      M6
+    %	Base	Shldr   Elbow   WristV  WristR  Grip
+    % 	0-180   15-165  0-180   0-180   0-180   10-73
+        
+    if (Phi <= 90)&&(Phi >= -90)
+        mov = [Phi+90, 90, 180, Theta, 180, 10];
+    end
+
+    for i=1:size(mov,1)     % Cycle through all position vectors in 'mov'
+        fwrite(s, mov(i,:));        % Send position vector via serial
+        disp(fread(s,6,'uint8'));   % Read and display serial
+    end
+end

MATLAB/rotTest.m

+deltaTheta = 20;
+deltaPhi = 20;
+
+Theta = 0:deltaTheta:180;
+Phi = (-180:deltaPhi:180)';
+Freq = 0.2e9:0.1e9:2e9;
+radData = zeros(length(Phi),length(Theta),length(Freq));
+
+for i = 1:length(Phi)
+    for j = 1:length(Theta)
+        % Move to correct position
+        radData(i,j,:) = i*j;
+    end
+end
+
+freq_observe = 300e6;
+saveCSV(radData,Theta,Phi,Freq,'test',freq_observe);
+
+figure(1); clf;
+patternCustom(radData(:,:,3),Theta,Phi,'CoordinateSystem','rectangular','Slice','phi','SliceValue',-180);

MATLAB/saveCSV.m

+function saveCSV(radData, Theta, Phi, Freq, fname, FreqSave)
+%SAVECSV Saves the radData to a csv file
+%   radData(azimuth, elevation, frequency) = Magnitude
+%   Theta = 0 to 180    (elevation)
+%   Phi = -80 to 180    (azimuth)
+%   Freq = Start Frequency to Stop Frequency
+%   fname = Desired filename
+%   FreqSave = Single frequency within Freq to save data for
+    
+    % Append requested frequency to file name:
+    if FreqSave > 1e9
+        append = '_' + string(FreqSave/1e9) + 'GHz';
+    else
+        append = '_' + string(FreqSave/1e6) + 'MHz';
+    end
+    
+    % Search Freq vector for element number of requested frequency:
+    freq_index = find(Freq == FreqSave);
+    
+    % Reshape data for csv file:
+    Elevation = repelem(Theta,length(Phi))';
+    Azimuth = repmat(Phi,[length(Theta) 1]);
+    Magnitude = reshape(radData(:,:,freq_index),[numel(radData(:,:,freq_index)) 1]);
+    T = table(Elevation,Azimuth,Magnitude);
+    
+    writetable(T,strcat(fname,append+'.csv'));
+end
+

MATLAB/setup.m

+function setup(scope, Freq)
+%SETUP Setup of the VNA
+
+    setup_cmmds = [
+    "*RST"
+    "INIT1:CONT 0"          % Single sweep = 0, Continuous = 1
+    "SYST:DISP:UPD ON"
+    "MEM:DEF 'Set1'"
+    "CALC1:PAR:SDEF 'Antenna','S21'"
+    "DISP:WIND1:STAT ON;:DISP:WIND1:TRAC2:FEED 'Antenna'"
+    "SENS1:SWE:POIN "       % Max: 20,001 Min: 2
+    "INIT1:CONT 0"          % Single sweep = 0, Continuous = 1
+    "SENS1:SWE:COUN 1"      % Sweep count (set to 1)
+    "SENS1:SWE:TYPE LIN"    % "LIN" or "LOG"
+    "SENS1:FREQ:STAR "      % Start frequency
+    "SENS1:FREQ:STOP "      % Stop frequency
+    "SOUR1:POW 10dBm"       % Output power
+    "CALC1:PAR:SDEF 'Antenna','S21'"
+    "CALC1:FORM MLOG"
+    ];
+
+setup_cmmds(7) = setup_cmmds(7) + string(length(Freq));             % Set number of points
+setup_cmmds(11) = setup_cmmds(11) + string(Freq(1)/1e9) + "GHz";    % Set start frequency
+setup_cmmds(12) = setup_cmmds(12) + string(Freq(end)/1e9) + "GHz";  % Set end frequency
+
+    for i = 1:length(setup_cmmds)
+        scope.RawIO.Write([char(setup_cmmds(i)) newline]);
+    end
+end
+