def _maybe_init(self):
"""
Setup for simulation.
"""
if not self._initialized:
assert is_number(self.init_alpha), 'init_alpha must be a number'
self.init_alpha = clip(self.init_alpha, 0, 1)
self._resistor_1 = Resistor(self.n_top, self.n_middle, self.i_top_middle,
(1 - self.init_alpha) * self.r)
self._resistor_2 = Resistor(self.n_middle, self.n_bottom,
self.i_middle_bottom, self.init_alpha * self.r)
self._initialized = True
def step(self, current_solution):
assert self.motor_plus in current_solution, ('%s not in current solution' %
self.n1)
assert self.motor_minus in current_solution, ('%s not in current solution'
% self.n2)
current_angle = self.angle_samples[-1]
current_speed = self.speed_samples[-1]
voltage_accross = current_solution[self.motor_plus] - current_solution[
self.motor_minus]
torque = self.Kt * (voltage_accross - self.Kb * current_speed) / self.r
acceleration = (torque - self.B * current_speed) / self.J
new_speed = current_speed + T * acceleration
new_angle = current_angle + T * new_speed
if not in_bounds(new_angle, self.angle_min, self.angle_max):
# if angle has not really changed, then force speed to be 0
if current_angle in (self.angle_min, self.angle_max):
new_speed = 0
new_angle = clip(new_angle, self.angle_min, self.angle_max)
self.angle_samples.append(new_angle)
self.speed_samples.append(new_speed)
Component.step(self, current_solution)
