function [] = CartDisplay(X, Ref) % Cart Display (sp19 version) x = X(1); q = X(2); % cart xc = [-0.2,0.2,0.2,-0.2,-0.2] + x; yc = [0,0,0.2,0.2,0]; xm = x + sin(q); ym = 0 + cos(q); % ball q = [0:0.1:1]' * 2*pi; xb = 0.05*cos(q) + xm; yb = 0.05*sin(q) + ym; plot([-3,3],[0,0],'b-',xc,yc,'r-',[x,xm],[0,ym]+0.2,'r-',xb, 0.2+yb, 'r-',[Ref, Ref],[-0.1,0.1],'b') ylim([-0.5,1.5]); pause(0.01); end