Example #1
0
    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()
Example #2
0
    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()
Example #3
0
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
Example #4
0
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