def __init__(self, controller):
super(SimulatorWindow, self).__init__()
self.controller = controller
self.elapsed = 0.0
self.epoch = 0
self.throttleval = 0.0
self.loadval = 0.0
self.committedThrottleVal = 0.0
self.dt = 1.0 / simconstants.SIMFREQ
self.va = 0.0
self.vb = 0.0
self.vc = 0.0
self.connect('destroy', lambda w: Gtk.main_quit())
self.set_default_size(1024, 800)
vbox = Gtk.VBox()
self.add(vbox)
self.table = GraphTable()
vbox.pack_start(self.table, True, True, 0)
self.table.add_row("omega", 0.05)
self.table.add_row("theta", 5)
self.table.add_row("va", 3)
self.table.add_row("ia", 3)
self.table.add_row("bemf", 4)
self.table.add_row("torque", 50)
self.table.add_row("errors", 5)
hbox = Gtk.HBox()
self.pwm = self.add_label("throttle (%): ", hbox)
adj1 = Gtk.Adjustment(0.0, 0.0, 101.0, 0.1, 1.0, 1.0)
self.throttlescale = Gtk.HScale()
self.throttlescale.set_adjustment(adj1)
self.throttlescale.set_digits(1)
self.throttlescale.set_draw_value(True)
hbox.pack_start(self.throttlescale, True, True, 0)
self.throttlescale.connect("change-value", self.change_throttle)
self.load = self.add_label("load (Nm): ", hbox)
adj2 = Gtk.Adjustment(0.0, 0.0, 5.0, 0.01, 1.0, 1.0)
self.loadscale = Gtk.HScale()
self.loadscale.set_adjustment(adj2)
self.loadscale.set_digits(2)
self.loadscale.set_draw_value(True)
hbox.pack_start(self.loadscale, True, True, 0)
self.loadscale.connect("change-value", self.change_load)
vbox.pack_start(hbox, False, False, 0)
self.sim = Simulator()
GObject.timeout_add(1, self.callback)
self.show_all()
def __init__(self, controller):
super(SimulatorWindow, self).__init__()
self.controller = controller
self.elapsed = 0.0
self.epoch = 0
self.throttleval = 0.0
self.loadval = 0.0
self.committedThrottleVal = 0.0
self.dt = 1.0 / simconstants.SIMFREQ
self.va = 0.0
self.vb = 0.0
self.vc = 0.0
self.connect("destroy", lambda w: Gtk.main_quit())
self.set_default_size(1024, 800)
vbox = Gtk.VBox()
self.add(vbox)
self.table = GraphTable()
vbox.pack_start(self.table, True, True, 0)
self.table.add_row("omega", 0.05)
self.table.add_row("theta", 5)
self.table.add_row("va", 3)
self.table.add_row("ia", 3)
self.table.add_row("bemf", 4)
self.table.add_row("torque", 50)
self.table.add_row("errors", 5)
hbox = Gtk.HBox()
self.pwm = self.add_label("throttle (%): ", hbox)
adj1 = Gtk.Adjustment(0.0, 0.0, 101.0, 0.1, 1.0, 1.0)
self.throttlescale = Gtk.HScale()
self.throttlescale.set_adjustment(adj1)
self.throttlescale.set_digits(1)
self.throttlescale.set_draw_value(True)
hbox.pack_start(self.throttlescale, True, True, 0)
self.throttlescale.connect("change-value", self.change_throttle)
self.load = self.add_label("load (Nm): ", hbox)
adj2 = Gtk.Adjustment(0.0, 0.0, 5.0, 0.01, 1.0, 1.0)
self.loadscale = Gtk.HScale()
self.loadscale.set_adjustment(adj2)
self.loadscale.set_digits(2)
self.loadscale.set_draw_value(True)
hbox.pack_start(self.loadscale, True, True, 0)
self.loadscale.connect("change-value", self.change_load)
vbox.pack_start(hbox, False, False, 0)
self.sim = Simulator()
GObject.timeout_add(1, self.callback)
self.show_all()
class SimulatorWindow(Gtk.Window):
def __init__(self, controller):
super(SimulatorWindow, self).__init__()
self.controller = controller
self.elapsed = 0.0
self.epoch = 0
self.throttleval = 0.0
self.loadval = 0.0
self.committedThrottleVal = 0.0
self.dt = 1.0 / simconstants.SIMFREQ
self.va = 0.0
self.vb = 0.0
self.vc = 0.0
self.connect("destroy", lambda w: Gtk.main_quit())
self.set_default_size(1024, 800)
vbox = Gtk.VBox()
self.add(vbox)
self.table = GraphTable()
vbox.pack_start(self.table, True, True, 0)
self.table.add_row("omega", 0.05)
self.table.add_row("theta", 5)
self.table.add_row("va", 3)
self.table.add_row("ia", 3)
self.table.add_row("bemf", 4)
self.table.add_row("torque", 50)
self.table.add_row("errors", 5)
hbox = Gtk.HBox()
self.pwm = self.add_label("throttle (%): ", hbox)
adj1 = Gtk.Adjustment(0.0, 0.0, 101.0, 0.1, 1.0, 1.0)
self.throttlescale = Gtk.HScale()
self.throttlescale.set_adjustment(adj1)
self.throttlescale.set_digits(1)
self.throttlescale.set_draw_value(True)
hbox.pack_start(self.throttlescale, True, True, 0)
self.throttlescale.connect("change-value", self.change_throttle)
self.load = self.add_label("load (Nm): ", hbox)
adj2 = Gtk.Adjustment(0.0, 0.0, 5.0, 0.01, 1.0, 1.0)
self.loadscale = Gtk.HScale()
self.loadscale.set_adjustment(adj2)
self.loadscale.set_digits(2)
self.loadscale.set_draw_value(True)
hbox.pack_start(self.loadscale, True, True, 0)
self.loadscale.connect("change-value", self.change_load)
vbox.pack_start(hbox, False, False, 0)
self.sim = Simulator()
GObject.timeout_add(1, self.callback)
self.show_all()
def run(self):
Gtk.main()
def add_label(self, labelname, hbox):
ln = Gtk.Label(labelname)
vlabel = Gtk.Label("0.00")
hbox.pack_start(ln, True, True, 0)
hbox.pack_start(vlabel, True, True, 0)
return vlabel
def change_throttle(self, scale, scroll, value):
if value > 100.0:
value = 100.0
if value < 0.0:
value = 0.0
self.throttleval = value
return
def change_load(self, scale, scroll, value):
if value > 5.0:
value = 5.0
if value < 0.0:
value = 0.0
self.loadval = value
self.load.set_text("%3.2f" % (self.loadval))
return
def callback(self):
self.elapsed = self.elapsed + (1.0 / self.dt)
self.epoch = self.epoch + 1
if self.epoch % simconstants.THROTTLE_INTERVAL == 0:
self.committedThrottleVal = self.throttleval
self.pwm.set_text("%3.2f" % (self.committedThrottleVal))
process_variables = self.sim.get_variables()
if self.epoch % simconstants.CONTROLLER_INTERVAL == 0:
self.va, self.vb, self.vc = self.controller.step_sim(
self.dt, self.elapsed, self.epoch, self.committedThrottleVal, process_variables
)
# t = t in s after last step
s = self.sim.step_sim(self.dt, self.elapsed, self.epoch, self.loadval, self.va, self.vb, self.vc)
c = self.controller.get_variables()
e = self.controller.get_errors()
s.append(e[0])
c.append(e[1])
self.table.update_data(s, c)
return True
class SimulatorWindow(Gtk.Window):
def __init__(self, controller):
super(SimulatorWindow, self).__init__()
self.controller = controller
self.elapsed = 0.0
self.epoch = 0
self.throttleval = 0.0
self.loadval = 0.0
self.committedThrottleVal = 0.0
self.dt = 1.0 / simconstants.SIMFREQ
self.va = 0.0
self.vb = 0.0
self.vc = 0.0
self.connect('destroy', lambda w: Gtk.main_quit())
self.set_default_size(1024, 800)
vbox = Gtk.VBox()
self.add(vbox)
self.table = GraphTable()
vbox.pack_start(self.table, True, True, 0)
self.table.add_row("omega", 0.05)
self.table.add_row("theta", 5)
self.table.add_row("va", 3)
self.table.add_row("ia", 3)
self.table.add_row("bemf", 4)
self.table.add_row("torque", 50)
self.table.add_row("errors", 5)
hbox = Gtk.HBox()
self.pwm = self.add_label("throttle (%): ", hbox)
adj1 = Gtk.Adjustment(0.0, 0.0, 101.0, 0.1, 1.0, 1.0)
self.throttlescale = Gtk.HScale()
self.throttlescale.set_adjustment(adj1)
self.throttlescale.set_digits(1)
self.throttlescale.set_draw_value(True)
hbox.pack_start(self.throttlescale, True, True, 0)
self.throttlescale.connect("change-value", self.change_throttle)
self.load = self.add_label("load (Nm): ", hbox)
adj2 = Gtk.Adjustment(0.0, 0.0, 5.0, 0.01, 1.0, 1.0)
self.loadscale = Gtk.HScale()
self.loadscale.set_adjustment(adj2)
self.loadscale.set_digits(2)
self.loadscale.set_draw_value(True)
hbox.pack_start(self.loadscale, True, True, 0)
self.loadscale.connect("change-value", self.change_load)
vbox.pack_start(hbox, False, False, 0)
self.sim = Simulator()
GObject.timeout_add(1, self.callback)
self.show_all()
def run(self):
Gtk.main()
def add_label(self, labelname, hbox):
ln = Gtk.Label(labelname)
vlabel = Gtk.Label("0.00")
hbox.pack_start(ln, True, True, 0)
hbox.pack_start(vlabel, True, True, 0)
return vlabel
def change_throttle(self, scale, scroll, value):
if value > 100.0:
value = 100.0
if value < 0.0:
value = 0.0
self.throttleval = value
return
def change_load(self, scale, scroll, value):
if value > 5.0:
value = 5.0
if value < 0.0:
value = 0.0
self.loadval = value
self.load.set_text("%3.2f" % (self.loadval))
return
def callback(self):
self.elapsed = self.elapsed + (1.0 / self.dt)
self.epoch = self.epoch + 1
if self.epoch % simconstants.THROTTLE_INTERVAL == 0:
self.committedThrottleVal = self.throttleval
self.pwm.set_text("%3.2f" % (self.committedThrottleVal))
process_variables = self.sim.get_variables()
if self.epoch % simconstants.CONTROLLER_INTERVAL == 0:
self.va, self.vb, self.vc = self.controller.step_sim(
self.dt, self.elapsed, self.epoch, self.committedThrottleVal,
process_variables)
# t = t in s after last step
s = self.sim.step_sim(self.dt, self.elapsed, self.epoch, self.loadval,
self.va, self.vb, self.vc)
c = self.controller.get_variables()
e = self.controller.get_errors()
s.append(e[0])
c.append(e[1])
self.table.update_data(s, c)
return True