#initial values

t0 = 0

y0 = np.array([0., -0.10344, -0.65, 0., 0. , 0., -0.628993, 0.047088]) #|phi_s| <= 0.1034 rad, |phi_b| <= 0.12 rad

yd0 = np.array([0., 0., 0., 0., 0., 0., 0., 0.])

sw = [False, True, False]

#problem

model = Implicit_Problem(pecker, y0, yd0, t0, sw0=sw)

model.state_events = state_events #from woodpecker.py

model.handle_event = handle_event #from woodpecker.py

model.name = 'Woodpeckermodel'

sim = IDA(model) #create IDA solver

tfinal = 2.0 #final time

ncp = 500 #number control points

sim.suppress_alg = True

sim.rtol=1.e-6

sim.atol[6:8] = 1e6

sim.algvar[6:8] = 0

t, y, yd = sim.simulate(tfinal, ncp) #simulate

#plot

fig, ax = P.subplots()

ax.plot(t, y[:, 0], label='z')

legend = ax.legend(loc='upper center', shadow=True)

P.grid()

P.figure(1)

fig2, ax2 = P.subplots()

ax2.plot(t, y[:, 1], label='phi_s')

ax2.plot(t, y[:, 2], label='phi_b')

legend = ax2.legend(loc='upper center', shadow=True)

P.grid()

P.figure(2)

fig3, ax3 = P.subplots()

ax3.plot(t, y[:, 4], label='phi_sp')

ax3.plot(t, y[:, 5], label='phi_bp')

legend = ax3.legend(loc='upper center', shadow=True)

P.grid()

P.figure(3)

fig4, ax4 = P.subplots()

ax4.plot(t, y[:, 6], label='lambda_1')

ax4.plot(t, y[:, 7], label='lambda_2')

legend = ax4.legend(loc='upper right', shadow=True)

P.grid()

#event data

sim.print_event_data()

#show plots

P.show()

print("...")