def get_jib_winch_position(self, apparentWindAngleRad, X1, X2):
"""
Calculates the winch position of the jib according to the apparent wind angle.
Arguments
---------
float : apparentWindAngleRad
The wind angle in radians
float : X1
Parameter for jib saturation function
float : X2
Parameter for jib saturation function
Returns
-------
int
The winch position of the jib
"""
jibAngle = JibController.get_jib_angle(apparentWindAngleRad, X1, X2)
smallChange = not ControllerOutputRefiner.lowPowerAngle(
inputSignal=jibAngle, currAngle=self.__currJibAngleRad)
if (self.__controlModeID
== ControlModes.LOW_POWER.value) and (smallChange):
winchPosition = JibController.get_winch_position(
self.__currJibAngleRad, self.__winchQuantParam)
else:
self.__currJibAngleRad = jibAngle
winchPosition = JibController.get_winch_position(
jibAngle, self.__winchQuantParam)
return winchPosition
def test_quant_winch_position_360(self):
quant_param = 360
self.assertEqual(
JibController.get_winch_position(math.pi / 5, quant_param), 144)
self.assertEqual(
JibController.get_winch_position(math.pi / 8, quant_param), 90)
self.assertEqual(
JibController.get_winch_position(math.pi / 16, quant_param), 45)
self.assertEqual(
JibController.get_winch_position(math.pi / 17, quant_param), 42)
self.assertEqual(
JibController.get_winch_position(math.pi / 3, quant_param), 239)
self.assertEqual(
JibController.get_winch_position(math.pi / 2.2, quant_param), 327)
self.assertEqual(
JibController.get_winch_position(math.pi / 2.5, quant_param), 288)
def test_quant_winch_position_4(self):
quant_param = 4
self.assertEqual(
JibController.get_winch_position(math.pi / 5, quant_param), 180)
self.assertEqual(
JibController.get_winch_position(math.pi / 8, quant_param), 90)
self.assertEqual(
JibController.get_winch_position(math.pi / 16, quant_param), 90)
self.assertEqual(
JibController.get_winch_position(math.pi / 17, quant_param), 0)
self.assertEqual(
JibController.get_winch_position(math.pi / 3, quant_param), 270)
self.assertEqual(
JibController.get_winch_position(math.pi / 2.2, quant_param), 360)
self.assertEqual(
JibController.get_winch_position(math.pi / 2.5, quant_param), 270)