t_start = 0.0 # Start time of simulation
t_end = 50.0 # End time of simulation
t_Ts = P.Ts # Simulation time step
t_elapse = 0.1 # Simulation time elapsed between each iteration
t_pause = 0.01 # Pause between each iteration
sig_gen = Signals() # Instantiate Signals class
plotGen = plotGenerator() # Instantiate plotGenerator class
ctrl = controllerObs() # Instantiate controllerPD class
simAnimation = PendulumAnimation() # Instantiate Animate class
dynam = PendulumDynamics() # Instantiate Dynamics class
t = t_start # Declare time variable to keep track of simulation time elapsed
while t < t_end:
# Get referenced inputs from signal generators
ref_input = sig_gen.getRefInputs(t)
# The dynamics of the model will be propagated in time by t_elapse
# at intervals of t_Ts.
t_temp = t +t_elapse
while t < t_temp:
states = dynam.States() # Get current states
from slider_input import Sliders
# The Animation.py file is kept in the parent directory,
# so the parent directory path needs to be added.
sys.path.append('..')
from dynamics import PendulumDynamics
from animation import PendulumAnimation
t_start = 0.0 # Start time of simulation
t_end = 50.0 # End time of simulation
t_Ts = P.Ts # Simulation time step
t_elapse = 0.1 # Simulation time elapsed between each iteration
t_pause = 0.01 # Pause between each iteration
user_input = Sliders() # Instantiate Sliders class
simAnimation = PendulumAnimation() # Instantiate Animate class
dynam = PendulumDynamics() # Instantiate Dynamics class
t = t_start # Declare time variable to keep track of simulation time elapsed
while t < t_end:
plt.ion() # Make plots interactive
plt.figure(
user_input.fig.number) # Switch current figure to user_input figure
plt.pause(0.001) # Pause the simulation to detect user input
# The dynamics of the model will be propagated in time by t_elapse
# at intervals of t_Ts.
t_temp = t + t_elapse
while t < t_temp:
import param as P
from slider_input import Sliders
# The Animation.py file is kept in the parent directory,
# so the parent directory path needs to be added.
sys.path.append('..')
from animation import PendulumAnimation
t_start = 0.0 # Start time of simulation
t_end = 20.0 # End time of simulation
t_Ts = P.Ts # Simulation time step
t_elapse = 0.01 # Simulation time elapsed between each iteration
t_pause = 0.01 # Pause between each iteration
user_input = Sliders() # Instantiate Sliders class
simAnimation = PendulumAnimation() # Instantiate Animate class
t = t_start # Declare time variable to keep track of simulation time elapsed
while t < t_end:
plt.ion() # Make plots interactive
plt.figure(
user_input.fig.number) # Switch current figure to user_input figure
plt.pause(0.001) # Pause the simulation to detect user input
plt.figure(
simAnimation.fig.number) # Switch current figure to animation figure
simAnimation.drawPendulum( # Update animation with current user input
user_input.getInputValues())
t = t + t_elapse # Update time elapsed