clear all
close all
rscom1=serial('COM1','BaudRate',19200,'DataBits',8,'Parity','none','StopBits',2);
fopen(rscom1);
figure(1)
set(1,'doublebuffer','on');
try
 tic;
 while(1)
  accl=zeros(3,1000);
  aglvel=zeros(3,1000);
  agl=zeros(3,1000);
  timedat=(1:1000);
  for i=1:1000
    a=gyroj(rscom1);
    timedat(1,i)=toc;
    accl(:,i)=a(1:3)';
    aglvel(:,i)=a(4:6)';
    agl(:,i)=a(7:9)';
%fprintf('%4.2f %4.2f %4.2f %4.2f %4.2f %4.2f %4.2f\n ',a(1:3),sqrt(sum(a(1:3).^2)),a(7:9));
    subplot(2,2,1);plot3([a(1) 0],[a(2) 0],[a(3) 0],'linewidth',5);
    grid;axis([-1.5 1.5 -1.5 1.5 -1.5 1.5]);
    subplot(2,2,2);plot(timedat(1,1:i),accl(:,1:i));
    title('Acceleration');ylabel('G');xlabel('time[sec]');
    subplot(2,2,3);plot(timedat(1,1:i),aglvel(:,1:i));
    title('Angler velocity');ylabel('deg/sec');xlabel('time[sec]');
    subplot(2,2,4);plot(timedat(1,1:i),agl(:,1:i));
    title('Angle');ylabel('deg');xlabel('time[sec]');
    drawnow;
   end
  end
catch
fclose(rscom1);
delete(rscom1);
clear rscom1;
end